| 1 | // |
| 2 | // Academic License - for use in teaching, academic research, and meeting |
| 3 | // course requirements at degree granting institutions only. Not for |
| 4 | // government, commercial, or other organizational use. |
| 5 | // |
| 6 | // File: cartesian_trajectory_planner_2.cpp |
| 7 | // |
| 8 | // Code generated for Simulink model 'cartesian_trajectory_planner_2'. |
| 9 | // |
| 10 | // Model version : 1.129 |
| 11 | // Simulink Coder version : 9.3 (R2020a) 18-Nov-2019 |
| 12 | // C/C++ source code generated on : Tue May 19 21:41:37 2020 |
| 13 | // |
| 14 | // Target selection: ert.tlc |
| 15 | // Embedded hardware selection: Generic->Unspecified (assume 32-bit Generic) |
| 16 | // Code generation objectives: Unspecified |
| 17 | // Validation result: Not run |
| 18 | // |
| 19 | #include "cartesian_trajectory_planner_2.h" |
| 20 | #include "cartesian_trajectory_planner_2_private.h" |
| 21 | |
| 22 | // Block signals (default storage) |
| 23 | B_cartesian_trajectory_planne_T cartesian_trajectory_planner__B; |
| 24 | |
| 25 | // Block states (default storage) |
| 26 | DW_cartesian_trajectory_plann_T cartesian_trajectory_planner_DW; |
| 27 | |
| 28 | // Real-time model |
| 29 | RT_MODEL_cartesian_trajectory_T cartesian_trajectory_planner_M_ = |
| 30 | RT_MODEL_cartesian_trajectory_T(); |
| 31 | RT_MODEL_cartesian_trajectory_T *const cartesian_trajectory_planner_M = |
| 32 | &cartesian_trajectory_planner_M_; |
| 33 | |
| 34 | // Forward declaration for local functions |
| 35 | static void cartesian_trajec_emxInit_char_T(emxArray_char_T_cartesian_tra_T |
| 36 | **pEmxArray, int32_T numDimensions, B_MATLABSystem_cartesian_traj_T *localB); |
| 37 | static void cartesian_trajec_emxInit_real_T(emxArray_real_T_cartesian_tra_T |
| 38 | **pEmxArray, int32_T numDimensions, B_MATLABSystem_cartesian_traj_T *localB); |
| 39 | static void emxInitStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian_tr_T |
| 40 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 41 | static void emxInitStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 42 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 43 | static void emxInitStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 44 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 45 | static void emxInitStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 46 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 47 | static void emxInitStruct_robotics_slmanip_(robotics_slmanip_internal_blo_T |
| 48 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 49 | static void emxInitStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 50 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 51 | static void emxInitStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 52 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 53 | static void emxInitStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 54 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 55 | static void emxInitStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 56 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB); |
| 57 | static void cartesia_twister_state_vector_l(uint32_T mt[625]); |
| 58 | static void cartesian_tr_eml_rand_mt19937ar(uint32_T state[625]); |
| 59 | static void cartesian_traject_seed_to_state(uint32_T state[2]); |
| 60 | static void cartesian_tra_eml_rand_shr3cong(uint32_T state[2]); |
| 61 | static void cartes_emxEnsureCapacity_char_T(emxArray_char_T_cartesian_tra_T |
| 62 | *emxArray, int32_T oldNumel, B_MATLABSystem_cartesian_traj_T *localB); |
| 63 | static void cartesian_trajec_emxFree_char_T(emxArray_char_T_cartesian_tra_T |
| 64 | **pEmxArray); |
| 65 | static void cartes_emxEnsureCapacity_real_T(emxArray_real_T_cartesian_tra_T |
| 66 | *emxArray, int32_T oldNumel, B_MATLABSystem_cartesian_traj_T *localB); |
| 67 | static v_robotics_manip_internal_Rig_T *cartesian_t_RigidBody_RigidBody |
| 68 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 69 | static v_robotics_manip_internal_Rig_T *cartesian_RigidBody_RigidBody_b |
| 70 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 71 | static v_robotics_manip_internal_Rig_T *cartesia_RigidBody_RigidBody_by |
| 72 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 73 | static v_robotics_manip_internal_Rig_T *cartesi_RigidBody_RigidBody_bya |
| 74 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 75 | static v_robotics_manip_internal_Rig_T *cartes_RigidBody_RigidBody_byap |
| 76 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 77 | static v_robotics_manip_internal_Rig_T *carte_RigidBody_RigidBody_byapf |
| 78 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 79 | static v_robotics_manip_internal_Rig_T *cart_RigidBody_RigidBody_byapfa |
| 80 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB); |
| 81 | static y_robotics_manip_internal_Rig_T *car_RigidBodyTree_RigidBodyTree |
| 82 | (y_robotics_manip_internal_Rig_T *obj, v_robotics_manip_internal_Rig_T *iobj_0, |
| 83 | v_robotics_manip_internal_Rig_T *iobj_1, v_robotics_manip_internal_Rig_T |
| 84 | *iobj_2, v_robotics_manip_internal_Rig_T *iobj_3, |
| 85 | v_robotics_manip_internal_Rig_T *iobj_4, v_robotics_manip_internal_Rig_T |
| 86 | *iobj_5, v_robotics_manip_internal_Rig_T *iobj_6, |
| 87 | v_robotics_manip_internal_Rig_T *iobj_7, B_MATLABSystem_cartesian_traj_T |
| 88 | *localB); |
| 89 | static void cartesi_genrand_uint32_vector_d(uint32_T mt[625], uint32_T u[2], |
| 90 | B_MATLABSystem_cartesian_traj_T *localB); |
| 91 | static boolean_T cartesian_trajec_is_valid_state(const uint32_T mt[625], |
| 92 | B_MATLABSystem_cartesian_traj_T *localB); |
| 93 | static void cartesian__eml_rand_mt19937ar_a(const uint32_T state[625], uint32_T |
| 94 | b_state[625], real_T *r, B_MATLABSystem_cartesian_traj_T *localB); |
| 95 | static void cartesian_trajectory_plann_rand(real_T r[5], |
| 96 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 97 | *localDW); |
| 98 | static w_robotics_manip_internal_Rig_T *car_RigidBody_RigidBody_byapfac |
| 99 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 100 | B_MATLABSystem_cartesian_traj_T *localB); |
| 101 | static w_robotics_manip_internal_Rig_T *ca_RigidBody_RigidBody_byapfac3 |
| 102 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 103 | B_MATLABSystem_cartesian_traj_T *localB); |
| 104 | static w_robotics_manip_internal_Rig_T *c_RigidBody_RigidBody_byapfac3i |
| 105 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 106 | B_MATLABSystem_cartesian_traj_T *localB); |
| 107 | static w_robotics_manip_internal_Rig_T *RigidBody_RigidBody_byapfac3iu |
| 108 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 109 | B_MATLABSystem_cartesian_traj_T *localB); |
| 110 | static w_robotics_manip_internal_Rig_T *RigidBody_RigidBody_byapfac3iu2 |
| 111 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 112 | B_MATLABSystem_cartesian_traj_T *localB); |
| 113 | static void ca_RigidBodyTree_clearAllBodies(x_robotics_manip_internal_Rig_T *obj, |
| 114 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 115 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 116 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 117 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 118 | w_robotics_manip_internal_Rig_T *iobj_6, c_rigidBodyJoint_cartesian_tr_T |
| 119 | *iobj_7, c_rigidBodyJoint_cartesian_tr_T *iobj_8, |
| 120 | c_rigidBodyJoint_cartesian_tr_T *iobj_9, c_rigidBodyJoint_cartesian_tr_T |
| 121 | *iobj_10, c_rigidBodyJoint_cartesian_tr_T *iobj_11, |
| 122 | c_rigidBodyJoint_cartesian_tr_T *iobj_12, c_rigidBodyJoint_cartesian_tr_T |
| 123 | *iobj_13, c_rigidBodyJoint_cartesian_tr_T *iobj_14, |
| 124 | w_robotics_manip_internal_Rig_T *iobj_15, B_MATLABSystem_cartesian_traj_T |
| 125 | *localB, DW_MATLABSystem_cartesian_tra_T *localDW); |
| 126 | static x_robotics_manip_internal_Rig_T *c_RigidBodyTree_RigidBodyTree_i |
| 127 | (x_robotics_manip_internal_Rig_T *obj, w_robotics_manip_internal_Rig_T *iobj_0, |
| 128 | w_robotics_manip_internal_Rig_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 129 | *iobj_2, w_robotics_manip_internal_Rig_T *iobj_3, |
| 130 | w_robotics_manip_internal_Rig_T *iobj_4, w_robotics_manip_internal_Rig_T |
| 131 | *iobj_5, w_robotics_manip_internal_Rig_T *iobj_6, |
| 132 | c_rigidBodyJoint_cartesian_tr_T *iobj_7, c_rigidBodyJoint_cartesian_tr_T |
| 133 | *iobj_8, c_rigidBodyJoint_cartesian_tr_T *iobj_9, |
| 134 | c_rigidBodyJoint_cartesian_tr_T *iobj_10, c_rigidBodyJoint_cartesian_tr_T |
| 135 | *iobj_11, c_rigidBodyJoint_cartesian_tr_T *iobj_12, |
| 136 | c_rigidBodyJoint_cartesian_tr_T *iobj_13, c_rigidBodyJoint_cartesian_tr_T |
| 137 | *iobj_14, c_rigidBodyJoint_cartesian_tr_T *iobj_15, |
| 138 | w_robotics_manip_internal_Rig_T *iobj_16, B_MATLABSystem_cartesian_traj_T |
| 139 | *localB, DW_MATLABSystem_cartesian_tra_T *localDW); |
| 140 | static boolean_T cartesian_trajectory_pla_strcmp(const |
| 141 | emxArray_char_T_cartesian_tra_T *a, const emxArray_char_T_cartesian_tra_T *b); |
| 142 | static c_rigidBodyJoint_cartesian_tr_T *c_rigidBodyJoint_rigidBodyJoint |
| 143 | (c_rigidBodyJoint_cartesian_tr_T *obj, const emxArray_char_T_cartesian_tra_T |
| 144 | *jname, const emxArray_char_T_cartesian_tra_T *jtype, |
| 145 | B_MATLABSystem_cartesian_traj_T *localB); |
| 146 | static void cartesian_trajec_emxFree_real_T(emxArray_real_T_cartesian_tra_T |
| 147 | **pEmxArray); |
| 148 | static w_robotics_manip_internal_Rig_T *cartesian_trajec_RigidBody_copy(const |
| 149 | v_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 150 | c_rigidBodyJoint_cartesian_tr_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 151 | *iobj_2, B_MATLABSystem_cartesian_traj_T *localB); |
| 152 | static void cartesian_RigidBodyTree_addBody(x_robotics_manip_internal_Rig_T *obj, |
| 153 | v_robotics_manip_internal_Rig_T *bodyin, const emxArray_char_T_cartesian_tra_T |
| 154 | *parentName, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 155 | c_rigidBodyJoint_cartesian_tr_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 156 | *iobj_2, B_MATLABSystem_cartesian_traj_T *localB); |
| 157 | static void inverseKinematics_set_RigidBody(b_inverseKinematics_cartesian_T *obj, |
| 158 | y_robotics_manip_internal_Rig_T *rigidbodytree, |
| 159 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 160 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 161 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 162 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 163 | w_robotics_manip_internal_Rig_T *iobj_6, w_robotics_manip_internal_Rig_T |
| 164 | *iobj_7, w_robotics_manip_internal_Rig_T *iobj_8, |
| 165 | w_robotics_manip_internal_Rig_T *iobj_9, w_robotics_manip_internal_Rig_T |
| 166 | *iobj_10, w_robotics_manip_internal_Rig_T *iobj_11, |
| 167 | w_robotics_manip_internal_Rig_T *iobj_12, w_robotics_manip_internal_Rig_T |
| 168 | *iobj_13, w_robotics_manip_internal_Rig_T *iobj_14, |
| 169 | c_rigidBodyJoint_cartesian_tr_T *iobj_15, c_rigidBodyJoint_cartesian_tr_T |
| 170 | *iobj_16, c_rigidBodyJoint_cartesian_tr_T *iobj_17, |
| 171 | c_rigidBodyJoint_cartesian_tr_T *iobj_18, c_rigidBodyJoint_cartesian_tr_T |
| 172 | *iobj_19, c_rigidBodyJoint_cartesian_tr_T *iobj_20, |
| 173 | c_rigidBodyJoint_cartesian_tr_T *iobj_21, c_rigidBodyJoint_cartesian_tr_T |
| 174 | *iobj_22, c_rigidBodyJoint_cartesian_tr_T *iobj_23, |
| 175 | c_rigidBodyJoint_cartesian_tr_T *iobj_24, c_rigidBodyJoint_cartesian_tr_T |
| 176 | *iobj_25, c_rigidBodyJoint_cartesian_tr_T *iobj_26, |
| 177 | c_rigidBodyJoint_cartesian_tr_T *iobj_27, c_rigidBodyJoint_cartesian_tr_T |
| 178 | *iobj_28, c_rigidBodyJoint_cartesian_tr_T *iobj_29, |
| 179 | c_rigidBodyJoint_cartesian_tr_T *iobj_30, c_rigidBodyJoint_cartesian_tr_T |
| 180 | *iobj_31, c_rigidBodyJoint_cartesian_tr_T *iobj_32, |
| 181 | c_rigidBodyJoint_cartesian_tr_T *iobj_33, c_rigidBodyJoint_cartesian_tr_T |
| 182 | *iobj_34, c_rigidBodyJoint_cartesian_tr_T *iobj_35, |
| 183 | c_rigidBodyJoint_cartesian_tr_T *iobj_36, c_rigidBodyJoint_cartesian_tr_T |
| 184 | *iobj_37, c_rigidBodyJoint_cartesian_tr_T *iobj_38, |
| 185 | c_rigidBodyJoint_cartesian_tr_T *iobj_39, w_robotics_manip_internal_Rig_T |
| 186 | *iobj_40, x_robotics_manip_internal_Rig_T *iobj_41, |
| 187 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 188 | *localDW); |
| 189 | static h_robotics_core_internal_Damp_T *DampedBFGSwGradientProjection_D |
| 190 | (h_robotics_core_internal_Damp_T *obj); |
| 191 | static void car_inverseKinematics_setupImpl(b_inverseKinematics_cartesian_T *obj, |
| 192 | f_robotics_manip_internal_IKE_T *iobj_0, B_MATLABSystem_cartesian_traj_T |
| 193 | *localB); |
| 194 | static void c_inverseKinematics_setPoseGoal(b_inverseKinematics_cartesian_T *obj, |
| 195 | const real_T tform[16], const real_T weights[6], |
| 196 | B_MATLABSystem_cartesian_traj_T *localB); |
| 197 | static void RigidBodyTree_validateConfigu_j(x_robotics_manip_internal_Rig_T *obj, |
| 198 | real_T Q[6], B_MATLABSystem_cartesian_traj_T *localB); |
| 199 | static void ca_rigidBodyJoint_get_JointAxis(const |
| 200 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T ax[3], |
| 201 | B_MATLABSystem_cartesian_traj_T *localB); |
| 202 | static void cartesian_trajectory_planne_cat(real_T varargin_1, real_T varargin_2, |
| 203 | real_T varargin_3, real_T varargin_4, real_T varargin_5, real_T varargin_6, |
| 204 | real_T varargin_7, real_T varargin_8, real_T varargin_9, real_T y[9]); |
| 205 | static void rigidBodyJoint_transformBodyToP(const |
| 206 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T T[16], |
| 207 | B_MATLABSystem_cartesian_traj_T *localB); |
| 208 | static void rigidBodyJoint_transformBodyT_n(const |
| 209 | c_rigidBodyJoint_cartesian_tr_T *obj, const real_T q_data[], const int32_T |
| 210 | *q_size, real_T T[16], B_MATLABSystem_cartesian_traj_T *localB); |
| 211 | static void RigidBodyTree_efficientFKAndJac(x_robotics_manip_internal_Rig_T *obj, |
| 212 | const real_T qv[6], const emxArray_char_T_cartesian_tra_T *body1Name, real_T |
| 213 | T_data[], int32_T T_size[2], emxArray_real_T_cartesian_tra_T *Jac, |
| 214 | B_MATLABSystem_cartesian_traj_T *localB); |
| 215 | static creal_T cartesian_trajectory_plann_sqrt(const creal_T x); |
| 216 | static real_T cartesian_trajectory_plan_xnrm2(int32_T n, const real_T x[9], |
| 217 | int32_T ix0); |
| 218 | static real_T cartesian_trajectory_pl_xnrm2_a(const real_T x[3], int32_T ix0); |
| 219 | static real_T cartesian_trajectory_plan_xdotc(int32_T n, const real_T x[9], |
| 220 | int32_T ix0, const real_T y[9], int32_T iy0); |
| 221 | static void cartesian_trajectory_plan_xaxpy(int32_T n, real_T a, int32_T ix0, |
| 222 | const real_T y[9], int32_T iy0, real_T b_y[9]); |
| 223 | static void cartesian_trajectory__xaxpy_cxo(int32_T n, real_T a, const real_T x |
| 224 | [9], int32_T ix0, real_T y[3], int32_T iy0); |
| 225 | static void cartesian_trajectory_p_xaxpy_cx(int32_T n, real_T a, const real_T x |
| 226 | [3], int32_T ix0, const real_T y[9], int32_T iy0, real_T b_y[9]); |
| 227 | static void cartesian_trajectory_plan_xrotg(real_T a, real_T b, real_T *b_a, |
| 228 | real_T *b_b, real_T *c, real_T *s, B_MATLABSystem_cartesian_traj_T *localB); |
| 229 | static void cartesian_trajectory_plann_xrot(const real_T x[9], int32_T ix0, |
| 230 | int32_T iy0, real_T c, real_T s, real_T b_x[9]); |
| 231 | static void cartesian_trajectory_plan_xswap(const real_T x[9], int32_T ix0, |
| 232 | int32_T iy0, real_T b_x[9]); |
| 233 | static void cartesian_trajectory_planne_svd(const real_T A[9], real_T U[9], |
| 234 | real_T s[3], real_T V[9], B_MATLABSystem_cartesian_traj_T *localB); |
| 235 | static void cartesian_trajectory_rotm2axang(const real_T R[9], real_T axang[4], |
| 236 | B_MATLABSystem_cartesian_traj_T *localB); |
| 237 | static void cartesian_IKHelpers_computeCost(const real_T x[6], |
| 238 | f_robotics_manip_internal_IKE_T *args, real_T *cost, real_T W[36], |
| 239 | emxArray_real_T_cartesian_tra_T *Jac, f_robotics_manip_internal_IKE_T **b_args, |
| 240 | B_MATLABSystem_cartesian_traj_T *localB); |
| 241 | static void cartesian_trajectory_planne_eye(real_T b_I[36]); |
| 242 | static void cartesian_tra_emxInit_boolean_T(emxArray_boolean_T_cartesian__T |
| 243 | **pEmxArray, int32_T numDimensions); |
| 244 | static void cartesian_traje_emxInit_int32_T(emxArray_int32_T_cartesian_tr_T |
| 245 | **pEmxArray, int32_T numDimensions); |
| 246 | static void car_emxEnsureCapacity_boolean_T(emxArray_boolean_T_cartesian__T |
| 247 | *emxArray, int32_T oldNumel); |
| 248 | static void carte_emxEnsureCapacity_int32_T(emxArray_int32_T_cartesian_tr_T |
| 249 | *emxArray, int32_T oldNumel); |
| 250 | static real_T SystemTimeProvider_getElapsedTi(const |
| 251 | f_robotics_core_internal_Syst_T *obj); |
| 252 | static real_T cartesian_trajectory_pla_norm_j(const real_T x[6]); |
| 253 | static void cartesian_tra_emxFree_boolean_T(emxArray_boolean_T_cartesian__T |
| 254 | **pEmxArray); |
| 255 | static boolean_T DampedBFGSwGradientProjection_a(const |
| 256 | h_robotics_core_internal_Damp_T *obj, const real_T Hg[6], const |
| 257 | emxArray_real_T_cartesian_tra_T *alpha); |
| 258 | static void cartesian_traje_emxFree_int32_T(emxArray_int32_T_cartesian_tr_T |
| 259 | **pEmxArray); |
| 260 | static void cartesian_trajectory_pl_xzgetrf(int32_T m, int32_T n, const |
| 261 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, |
| 262 | emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T *ipiv, |
| 263 | int32_T *info, B_MATLABSystem_cartesian_traj_T *localB); |
| 264 | static void cartesian_trajectory_plan_xtrsm(int32_T m, int32_T n, const |
| 265 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, const |
| 266 | emxArray_real_T_cartesian_tra_T *B, int32_T ldb, |
| 267 | emxArray_real_T_cartesian_tra_T *b_B, B_MATLABSystem_cartesian_traj_T *localB); |
| 268 | static real_T cartesian_trajectory_p_xnrm2_ad(int32_T n, const |
| 269 | emxArray_real_T_cartesian_tra_T *x, int32_T ix0, |
| 270 | B_MATLABSystem_cartesian_traj_T *localB); |
| 271 | static void cartesian_trajectory_pla_qrpf_b(const |
| 272 | emxArray_real_T_cartesian_tra_T *A, int32_T m, int32_T n, |
| 273 | emxArray_real_T_cartesian_tra_T *tau, const emxArray_int32_T_cartesian_tr_T |
| 274 | *jpvt, emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T |
| 275 | *b_jpvt, B_MATLABSystem_cartesian_traj_T *localB); |
| 276 | static void cartesian_trajectory_p_mldivide(const |
| 277 | emxArray_real_T_cartesian_tra_T *A, const emxArray_real_T_cartesian_tra_T *B, |
| 278 | emxArray_real_T_cartesian_tra_T *Y, B_MATLABSystem_cartesian_traj_T *localB); |
| 279 | static void cartesian_trajectory_planne_inv(const |
| 280 | emxArray_real_T_cartesian_tra_T *x, emxArray_real_T_cartesian_tra_T *y, |
| 281 | B_MATLABSystem_cartesian_traj_T *localB); |
| 282 | static void cartesian_trajectory_plann_diag(const |
| 283 | emxArray_real_T_cartesian_tra_T *v, emxArray_real_T_cartesian_tra_T *d, |
| 284 | B_MATLABSystem_cartesian_traj_T *localB); |
| 285 | static boolean_T cartesian_trajectory_planne_any(const |
| 286 | emxArray_boolean_T_cartesian__T *x); |
| 287 | static void cartesian_trajectory_pl_sqrt_nh(emxArray_real_T_cartesian_tra_T *x); |
| 288 | static boolean_T cartesian_tr_isPositiveDefinite(const real_T B[36], |
| 289 | B_MATLABSystem_cartesian_traj_T *localB); |
| 290 | static boolean_T DampedBFGSwGradientProjection_k(const |
| 291 | h_robotics_core_internal_Damp_T *obj, const real_T xNew[6], |
| 292 | B_MATLABSystem_cartesian_traj_T *localB); |
| 293 | static void DampedBFGSwGradientProjection_s(h_robotics_core_internal_Damp_T *obj, |
| 294 | real_T xSol[6], c_robotics_core_internal_NLPS_T *exitFlag, real_T *err, real_T |
| 295 | *iter, B_MATLABSystem_cartesian_traj_T *localB); |
| 296 | static void cartesian_trajectory_p_isfinite(const |
| 297 | emxArray_real_T_cartesian_tra_T *x, emxArray_boolean_T_cartesian__T *b); |
| 298 | static void cartesian_trajectory_pla_rand_m(real_T varargin_1, |
| 299 | emxArray_real_T_cartesian_tra_T *r, B_MATLABSystem_cartesian_traj_T *localB, |
| 300 | DW_MATLABSystem_cartesian_tra_T *localDW); |
| 301 | static real_T cartesian_trajectory_genrandu_n(uint32_T mt[625], |
| 302 | B_MATLABSystem_cartesian_traj_T *localB); |
| 303 | static real_T cartesia_eml_rand_mt19937ar_aoi(uint32_T state[625], |
| 304 | B_MATLABSystem_cartesian_traj_T *localB); |
| 305 | static void cartesian_trajectory_plan_randn(const real_T varargin_1[2], |
| 306 | emxArray_real_T_cartesian_tra_T *r, B_MATLABSystem_cartesian_traj_T *localB, |
| 307 | DW_MATLABSystem_cartesian_tra_T *localDW); |
| 308 | static void cartes_NLPSolverInterface_solve(h_robotics_core_internal_Damp_T *obj, |
| 309 | const real_T seed[6], real_T xSol[6], real_T *solutionInfo_Iterations, real_T * |
| 310 | solutionInfo_RRAttempts, real_T *solutionInfo_Error, real_T |
| 311 | *solutionInfo_ExitFlag, char_T solutionInfo_Status_data[], int32_T |
| 312 | solutionInfo_Status_size[2], B_MATLABSystem_cartesian_traj_T *localB, |
| 313 | DW_MATLABSystem_cartesian_tra_T *localDW); |
| 314 | static void cart_inverseKinematics_stepImpl(b_inverseKinematics_cartesian_T *obj, |
| 315 | const real_T tform[16], const real_T weights[6], const real_T initialGuess[6], |
| 316 | real_T QSol[6], real_T *solutionInfo_Iterations, real_T |
| 317 | *solutionInfo_PoseErrorNorm, real_T *solutionInfo_ExitFlag, char_T |
| 318 | solutionInfo_Status_data[], int32_T solutionInfo_Status_size[2], |
| 319 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 320 | *localDW); |
| 321 | static void matlabCodegenHandle_matlabCod_o(robotics_slmanip_internal_blo_T *obj); |
| 322 | static void cartesian_tr_SystemCore_release(b_inverseKinematics_cartesian_T *obj); |
| 323 | static void cartesian_tra_SystemCore_delete(b_inverseKinematics_cartesian_T *obj); |
| 324 | static void matlabCodegenHandle_matlabCodeg(b_inverseKinematics_cartesian_T *obj); |
| 325 | static void emxFreeStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian_tr_T |
| 326 | *pStruct); |
| 327 | static void emxFreeStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 328 | *pStruct); |
| 329 | static void emxFreeStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 330 | *pStruct); |
| 331 | static void emxFreeStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 332 | *pStruct); |
| 333 | static void emxFreeStruct_robotics_slmanip_(robotics_slmanip_internal_blo_T |
| 334 | *pStruct); |
| 335 | static void emxFreeStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 336 | *pStruct); |
| 337 | static void emxFreeStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 338 | *pStruct); |
| 339 | static void emxFreeStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 340 | *pStruct); |
| 341 | static void emxFreeStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 342 | *pStruct); |
| 343 | |
| 344 | // Forward declaration for local functions |
| 345 | static c_robotics_core_internal_code_T *NameValueParser_NameValueParser |
| 346 | (c_robotics_core_internal_code_T *obj); |
| 347 | static void cartesian__computeProfileParams(real_T i, const real_T wayPoints[12], |
| 348 | const real_T Vel[6], const real_T Acc_data[], real_T *vParam, real_T *aParam, |
| 349 | real_T *tAParam, real_T *tFParam); |
| 350 | static void c_computeScalarLSPBCoefficients(real_T s0, real_T sF, real_T v, |
| 351 | real_T a, real_T ta, real_T tf, real_T coefs[9], real_T breaks[4]); |
| 352 | static boolean_T cart_checkPolyForMultipleBreaks(const real_T breakMat[24]); |
| 353 | static void cartes_processPolynomialResults(const real_T breakMat[24], const |
| 354 | real_T coeffMat[54], boolean_T hasMultipleBreaks, |
| 355 | f_cell_wrap_cartesian_traject_T breaksCell[6], g_cell_wrap_cartesian_traject_T |
| 356 | coeffCell[6]); |
| 357 | static real_T cartesian_trajector_rt_powd_snf(real_T u0, real_T u1); |
| 358 | static void ca_addFlatSegmentsToPPFormParts(const real_T oldbreaks_data[], const |
| 359 | int32_T oldbreaks_size[2], const real_T oldCoeffs_data[], const int32_T |
| 360 | oldCoeffs_size[2], real_T dim, real_T newBreaks_data[], int32_T |
| 361 | newBreaks_size[2], real_T newCoefs_data[], int32_T newCoefs_size[2]); |
| 362 | static void cartesian__polyCoeffsDerivative(const real_T coeffs_data[], const |
| 363 | int32_T coeffs_size[2], real_T dCoeffs_data[], int32_T dCoeffs_size[2]); |
| 364 | static int32_T cartesian_trajectory_pl_bsearch(const real_T x_data[], const |
| 365 | int32_T x_size[2], real_T xi); |
| 366 | static void cartesian_trajectory_plan_ppval(const real_T pp_breaks_data[], const |
| 367 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 368 | pp_coefs_size[3], const real_T x[2], real_T v_data[], int32_T v_size[2]); |
| 369 | static void c_generateTrajectoriesFromCoefs(const real_T breaks_data[], const |
| 370 | int32_T breaks_size[2], const real_T coeffs_data[], const int32_T coeffs_size |
| 371 | [2], real_T dim, const real_T t[2], real_T q_data[], int32_T q_size[2], real_T |
| 372 | qd_data[], int32_T qd_size[2], real_T qdd_data[], int32_T qdd_size[2], real_T |
| 373 | pp_breaks_data[], int32_T pp_breaks_size[2], real_T pp_coefs_data[], int32_T |
| 374 | pp_coefs_size[3]); |
| 375 | static void cartesian_trajector_trapveltraj(const real_T wayPoints[12], const |
| 376 | real_T varargin_2[6], real_T varargin_4, real_T q[12], real_T qd[12], real_T |
| 377 | qdd[12], real_T t[2], s_06c2DDfmr4zcnTqhww20ZC_cart_T ppCell_data[], int32_T |
| 378 | *ppCell_size); |
| 379 | static void TrapVelTrajSys_extract1DimFromP(const real_T pp_breaks_data[], const |
| 380 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 381 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 382 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 383 | static void cartesian_trajectory_pl_ppval_j(const real_T pp_breaks_data[], const |
| 384 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], real_T x, real_T |
| 385 | v_data[], int32_T *v_size); |
| 386 | static void TrapVelTrajSys_generate1DTrajec(const real_T breaks_data[], const |
| 387 | int32_T breaks_size[2], const real_T coefs_data[], const int32_T coefs_size[2], |
| 388 | real_T t, real_T q_data[], int32_T *q_size, real_T qd_data[], int32_T *qd_size, |
| 389 | real_T qdd_data[], int32_T *qdd_size); |
| 390 | static void TrapVelTrajSys_extract1DimFro_j(const real_T pp_breaks_data[], const |
| 391 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 392 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 393 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 394 | static void TrapVelTrajSys_extract1DimFr_jb(const real_T pp_breaks_data[], const |
| 395 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 396 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 397 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 398 | static void TrapVelTrajSys_extract1DimF_jbz(const real_T pp_breaks_data[], const |
| 399 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 400 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 401 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 402 | static void TrapVelTrajSys_extract1Dim_jbzp(const real_T pp_breaks_data[], const |
| 403 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 404 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 405 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 406 | static void TrapVelTrajSys_extract1Di_jbzpa(const real_T pp_breaks_data[], const |
| 407 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 408 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 409 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]); |
| 410 | static void cartesi_TrapVelTrajSys_stepImpl(real_T time, const real_T |
| 411 | varargin_1[12], const real_T varargin_2[6], real_T varargin_3, real_T q[6], |
| 412 | real_T qd[6], real_T qdd[6]); |
| 413 | static void matlabCodegenHandle_matlabC_jbz(ros_slros_internal_block_GetP_T *obj); |
| 414 | static void matlabCodegenHandle_matlabCo_jb(ros_slros_internal_block_Subs_T *obj); |
| 415 | static void matlabCodegenHandle_matlabCod_j(ros_slros_internal_block_Publ_T *obj); |
| 416 | static void cartesian_traj_SystemCore_setup(robotics_slcore_internal_bl_j_T *obj); |
| 417 | int32_T div_s32_floor(int32_T numerator, int32_T denominator) |
| 418 | { |
| 419 | int32_T quotient; |
| 420 | uint32_T absNumerator; |
| 421 | uint32_T absDenominator; |
| 422 | uint32_T tempAbsQuotient; |
| 423 | boolean_T quotientNeedsNegation; |
| 424 | if (denominator == 0) { |
| 425 | quotient = numerator >= 0 ? MAX_int32_T : MIN_int32_T; |
| 426 | |
| 427 | // Divide by zero handler |
| 428 | } else { |
| 429 | absNumerator = numerator < 0 ? ~static_cast<uint32_T>(numerator) + 1U : |
| 430 | static_cast<uint32_T>(numerator); |
| 431 | absDenominator = denominator < 0 ? ~static_cast<uint32_T>(denominator) + 1U : |
| 432 | static_cast<uint32_T>(denominator); |
| 433 | quotientNeedsNegation = ((numerator < 0) != (denominator < 0)); |
| 434 | tempAbsQuotient = absNumerator / absDenominator; |
| 435 | if (quotientNeedsNegation) { |
| 436 | absNumerator %= absDenominator; |
| 437 | if (absNumerator > 0U) { |
| 438 | tempAbsQuotient++; |
| 439 | } |
| 440 | } |
| 441 | |
| 442 | quotient = quotientNeedsNegation ? -static_cast<int32_T>(tempAbsQuotient) : |
| 443 | static_cast<int32_T>(tempAbsQuotient); |
| 444 | } |
| 445 | |
| 446 | return quotient; |
| 447 | } |
| 448 | |
| 449 | int32_T div_nzp_s32(int32_T numerator, int32_T denominator) |
| 450 | { |
| 451 | uint32_T tempAbsQuotient; |
| 452 | tempAbsQuotient = (numerator < 0 ? ~static_cast<uint32_T>(numerator) + 1U : |
| 453 | static_cast<uint32_T>(numerator)) / (denominator < 0 ? ~ |
| 454 | static_cast<uint32_T>(denominator) + 1U : static_cast<uint32_T>(denominator)); |
| 455 | return (numerator < 0) != (denominator < 0) ? -static_cast<int32_T> |
| 456 | (tempAbsQuotient) : static_cast<int32_T>(tempAbsQuotient); |
| 457 | } |
| 458 | |
| 459 | int32_T div_nzp_s32_floor(int32_T numerator, int32_T denominator) |
| 460 | { |
| 461 | uint32_T absNumerator; |
| 462 | uint32_T absDenominator; |
| 463 | uint32_T tempAbsQuotient; |
| 464 | boolean_T quotientNeedsNegation; |
| 465 | absNumerator = numerator < 0 ? ~static_cast<uint32_T>(numerator) + 1U : |
| 466 | static_cast<uint32_T>(numerator); |
| 467 | absDenominator = denominator < 0 ? ~static_cast<uint32_T>(denominator) + 1U : |
| 468 | static_cast<uint32_T>(denominator); |
| 469 | quotientNeedsNegation = ((numerator < 0) != (denominator < 0)); |
| 470 | tempAbsQuotient = absNumerator / absDenominator; |
| 471 | if (quotientNeedsNegation) { |
| 472 | absNumerator %= absDenominator; |
| 473 | if (absNumerator > 0U) { |
| 474 | tempAbsQuotient++; |
| 475 | } |
| 476 | } |
| 477 | |
| 478 | return quotientNeedsNegation ? -static_cast<int32_T>(tempAbsQuotient) : |
| 479 | static_cast<int32_T>(tempAbsQuotient); |
| 480 | } |
| 481 | |
| 482 | static void cartesian_trajec_emxInit_char_T(emxArray_char_T_cartesian_tra_T |
| 483 | **pEmxArray, int32_T numDimensions, B_MATLABSystem_cartesian_traj_T *localB) |
| 484 | { |
| 485 | emxArray_char_T_cartesian_tra_T *emxArray; |
| 486 | *pEmxArray = (emxArray_char_T_cartesian_tra_T *)malloc(sizeof |
| 487 | (emxArray_char_T_cartesian_tra_T)); |
| 488 | emxArray = *pEmxArray; |
| 489 | emxArray->data = (char_T *)NULL; |
| 490 | emxArray->numDimensions = numDimensions; |
| 491 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 492 | emxArray->allocatedSize = 0; |
| 493 | emxArray->canFreeData = true; |
| 494 | for (localB->i_b = 0; localB->i_b < numDimensions; localB->i_b++) { |
| 495 | emxArray->size[localB->i_b] = 0; |
| 496 | } |
| 497 | } |
| 498 | |
| 499 | static void cartesian_trajec_emxInit_real_T(emxArray_real_T_cartesian_tra_T |
| 500 | **pEmxArray, int32_T numDimensions, B_MATLABSystem_cartesian_traj_T *localB) |
| 501 | { |
| 502 | emxArray_real_T_cartesian_tra_T *emxArray; |
| 503 | *pEmxArray = (emxArray_real_T_cartesian_tra_T *)malloc(sizeof |
| 504 | (emxArray_real_T_cartesian_tra_T)); |
| 505 | emxArray = *pEmxArray; |
| 506 | emxArray->data = (real_T *)NULL; |
| 507 | emxArray->numDimensions = numDimensions; |
| 508 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 509 | emxArray->allocatedSize = 0; |
| 510 | emxArray->canFreeData = true; |
| 511 | for (localB->i_m = 0; localB->i_m < numDimensions; localB->i_m++) { |
| 512 | emxArray->size[localB->i_m] = 0; |
| 513 | } |
| 514 | } |
| 515 | |
| 516 | static void emxInitStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian_tr_T |
| 517 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 518 | { |
| 519 | cartesian_trajec_emxInit_char_T(&pStruct->Type, 2, localB); |
| 520 | cartesian_trajec_emxInit_real_T(&pStruct->MotionSubspace, 2, localB); |
| 521 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2, localB); |
| 522 | cartesian_trajec_emxInit_real_T(&pStruct->PositionLimitsInternal, 2, localB); |
| 523 | cartesian_trajec_emxInit_real_T(&pStruct->HomePositionInternal, 1, localB); |
| 524 | } |
| 525 | |
| 526 | static void emxInitStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 527 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 528 | { |
| 529 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2, localB); |
| 530 | emxInitStruct_c_rigidBodyJoint(&pStruct->JointInternal, localB); |
| 531 | } |
| 532 | |
| 533 | static void emxInitStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 534 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 535 | { |
| 536 | emxInitStruct_v_robotics_manip_(&pStruct->Base, localB); |
| 537 | } |
| 538 | |
| 539 | static void emxInitStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 540 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 541 | { |
| 542 | cartesian_trajec_emxInit_real_T(&pStruct->Limits, 2, localB); |
| 543 | } |
| 544 | |
| 545 | static void emxInitStruct_robotics_slmanip_(robotics_slmanip_internal_blo_T |
| 546 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 547 | { |
| 548 | emxInitStruct_y_robotics_manip_(&pStruct->TreeInternal, localB); |
| 549 | emxInitStruct_b_inverseKinemati(&pStruct->IKInternal, localB); |
| 550 | } |
| 551 | |
| 552 | static void emxInitStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 553 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 554 | { |
| 555 | cartesian_trajec_emxInit_char_T(&pStruct->NameInternal, 2, localB); |
| 556 | } |
| 557 | |
| 558 | static void emxInitStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 559 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 560 | { |
| 561 | emxInitStruct_w_robotics_manip_(&pStruct->Base, localB); |
| 562 | } |
| 563 | |
| 564 | static void emxInitStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 565 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 566 | { |
| 567 | cartesian_trajec_emxInit_char_T(&pStruct->BodyName, 2, localB); |
| 568 | cartesian_trajec_emxInit_real_T(&pStruct->ErrTemp, 1, localB); |
| 569 | cartesian_trajec_emxInit_real_T(&pStruct->GradTemp, 1, localB); |
| 570 | } |
| 571 | |
| 572 | static void emxInitStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 573 | *pStruct, B_MATLABSystem_cartesian_traj_T *localB) |
| 574 | { |
| 575 | cartesian_trajec_emxInit_real_T(&pStruct->ConstraintMatrix, 2, localB); |
| 576 | cartesian_trajec_emxInit_real_T(&pStruct->ConstraintBound, 1, localB); |
| 577 | } |
| 578 | |
| 579 | static void cartesia_twister_state_vector_l(uint32_T mt[625]) |
| 580 | { |
| 581 | uint32_T r; |
| 582 | int32_T b_mti; |
| 583 | r = 5489U; |
| 584 | mt[0] = 5489U; |
| 585 | for (b_mti = 0; b_mti < 623; b_mti++) { |
| 586 | r = ((r >> 30U ^ r) * 1812433253U + b_mti) + 1U; |
| 587 | mt[b_mti + 1] = r; |
| 588 | } |
| 589 | |
| 590 | mt[624] = 624U; |
| 591 | } |
| 592 | |
| 593 | static void cartesian_tr_eml_rand_mt19937ar(uint32_T state[625]) |
| 594 | { |
| 595 | memset(&state[0], 0, 625U * sizeof(uint32_T)); |
| 596 | cartesia_twister_state_vector_l(state); |
| 597 | } |
| 598 | |
| 599 | static void cartesian_traject_seed_to_state(uint32_T state[2]) |
| 600 | { |
| 601 | state[0] = 362436069U; |
| 602 | state[1] = 521288629U; |
| 603 | } |
| 604 | |
| 605 | static void cartesian_tra_eml_rand_shr3cong(uint32_T state[2]) |
| 606 | { |
| 607 | cartesian_traject_seed_to_state(state); |
| 608 | } |
| 609 | |
| 610 | static void cartes_emxEnsureCapacity_char_T(emxArray_char_T_cartesian_tra_T |
| 611 | *emxArray, int32_T oldNumel, B_MATLABSystem_cartesian_traj_T *localB) |
| 612 | { |
| 613 | void *newData; |
| 614 | if (oldNumel < 0) { |
| 615 | oldNumel = 0; |
| 616 | } |
| 617 | |
| 618 | localB->newNumel = 1; |
| 619 | for (localB->i_fr = 0; localB->i_fr < emxArray->numDimensions; localB->i_fr++) |
| 620 | { |
| 621 | localB->newNumel *= emxArray->size[localB->i_fr]; |
| 622 | } |
| 623 | |
| 624 | if (localB->newNumel > emxArray->allocatedSize) { |
| 625 | localB->i_fr = emxArray->allocatedSize; |
| 626 | if (localB->i_fr < 16) { |
| 627 | localB->i_fr = 16; |
| 628 | } |
| 629 | |
| 630 | while (localB->i_fr < localB->newNumel) { |
| 631 | if (localB->i_fr > 1073741823) { |
| 632 | localB->i_fr = MAX_int32_T; |
| 633 | } else { |
| 634 | localB->i_fr <<= 1; |
| 635 | } |
| 636 | } |
| 637 | |
| 638 | newData = calloc(static_cast<uint32_T>(localB->i_fr), sizeof(char_T)); |
| 639 | if (emxArray->data != NULL) { |
| 640 | memcpy(newData, emxArray->data, sizeof(char_T) * oldNumel); |
| 641 | if (emxArray->canFreeData) { |
| 642 | free(emxArray->data); |
| 643 | } |
| 644 | } |
| 645 | |
| 646 | emxArray->data = (char_T *)newData; |
| 647 | emxArray->allocatedSize = localB->i_fr; |
| 648 | emxArray->canFreeData = true; |
| 649 | } |
| 650 | } |
| 651 | |
| 652 | static void cartesian_trajec_emxFree_char_T(emxArray_char_T_cartesian_tra_T |
| 653 | **pEmxArray) |
| 654 | { |
| 655 | if (*pEmxArray != (emxArray_char_T_cartesian_tra_T *)NULL) { |
| 656 | if (((*pEmxArray)->data != (char_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 657 | free((*pEmxArray)->data); |
| 658 | } |
| 659 | |
| 660 | free((*pEmxArray)->size); |
| 661 | free(*pEmxArray); |
| 662 | *pEmxArray = (emxArray_char_T_cartesian_tra_T *)NULL; |
| 663 | } |
| 664 | } |
| 665 | |
| 666 | static void cartes_emxEnsureCapacity_real_T(emxArray_real_T_cartesian_tra_T |
| 667 | *emxArray, int32_T oldNumel, B_MATLABSystem_cartesian_traj_T *localB) |
| 668 | { |
| 669 | void *newData; |
| 670 | if (oldNumel < 0) { |
| 671 | oldNumel = 0; |
| 672 | } |
| 673 | |
| 674 | localB->newNumel_e = 1; |
| 675 | for (localB->i_nh = 0; localB->i_nh < emxArray->numDimensions; localB->i_nh++) |
| 676 | { |
| 677 | localB->newNumel_e *= emxArray->size[localB->i_nh]; |
| 678 | } |
| 679 | |
| 680 | if (localB->newNumel_e > emxArray->allocatedSize) { |
| 681 | localB->i_nh = emxArray->allocatedSize; |
| 682 | if (localB->i_nh < 16) { |
| 683 | localB->i_nh = 16; |
| 684 | } |
| 685 | |
| 686 | while (localB->i_nh < localB->newNumel_e) { |
| 687 | if (localB->i_nh > 1073741823) { |
| 688 | localB->i_nh = MAX_int32_T; |
| 689 | } else { |
| 690 | localB->i_nh <<= 1; |
| 691 | } |
| 692 | } |
| 693 | |
| 694 | newData = calloc(static_cast<uint32_T>(localB->i_nh), sizeof(real_T)); |
| 695 | if (emxArray->data != NULL) { |
| 696 | memcpy(newData, emxArray->data, sizeof(real_T) * oldNumel); |
| 697 | if (emxArray->canFreeData) { |
| 698 | free(emxArray->data); |
| 699 | } |
| 700 | } |
| 701 | |
| 702 | emxArray->data = (real_T *)newData; |
| 703 | emxArray->allocatedSize = localB->i_nh; |
| 704 | emxArray->canFreeData = true; |
| 705 | } |
| 706 | } |
| 707 | |
| 708 | static v_robotics_manip_internal_Rig_T *cartesian_t_RigidBody_RigidBody |
| 709 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 710 | { |
| 711 | v_robotics_manip_internal_Rig_T *b_obj; |
| 712 | int8_T msubspace_data[36]; |
| 713 | real_T poslim_data[12]; |
| 714 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 715 | boolean_T b_bool; |
| 716 | int32_T b_kstr; |
| 717 | char_T b[8]; |
| 718 | char_T b_0[9]; |
| 719 | int32_T loop_ub; |
| 720 | int8_T tmp[6]; |
| 721 | static const char_T tmp_0[13] = { 'e', 'd', 'o', '_', 'b', 'a', 's', 'e', '_', |
| 722 | 'l', 'i', 'n', 'k' }; |
| 723 | |
| 724 | static const real_T tmp_1[9] = { 0.012583419040406959, -0.00021487638648447484, |
| 725 | -0.00022605919127205462, -0.00021487638648447484, 0.00052369449451288713, |
| 726 | -0.00011525315957400814, -0.00022605919127205462, -0.00011525315957400814, |
| 727 | 0.012646079447789898 }; |
| 728 | |
| 729 | static const real_T tmp_2[36] = { 0.012583419040406959, |
| 730 | -0.00021487638648447484, -0.00022605919127205462, 0.0, -0.00392971169381184, |
| 731 | 0.00047022930128152475, -0.00021487638648447484, 0.00052369449451288713, |
| 732 | -0.00011525315957400814, 0.00392971169381184, 0.0, -0.00449464704691423, |
| 733 | -0.00022605919127205462, -0.00011525315957400814, 0.012646079447789898, |
| 734 | -0.00047022930128152475, 0.00449464704691423, 0.0, 0.0, 0.00392971169381184, |
| 735 | -0.00047022930128152475, 0.0785942338762368, 0.0, 0.0, -0.00392971169381184, |
| 736 | 0.0, 0.00449464704691423, 0.0, 0.0785942338762368, 0.0, |
| 737 | 0.00047022930128152475, -0.00449464704691423, 0.0, 0.0, 0.0, |
| 738 | 0.0785942338762368 }; |
| 739 | |
| 740 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 741 | 1 }; |
| 742 | |
| 743 | static const char_T tmp_4[15] = { 'w', 'o', 'r', 'l', 'd', '_', 'e', 'd', 'o', |
| 744 | '_', 'j', 'o', 'i', 'n', 't' }; |
| 745 | |
| 746 | static const char_T tmp_5[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 747 | |
| 748 | static const char_T tmp_6[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 749 | |
| 750 | static const char_T tmp_7[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 751 | |
| 752 | static const real_T tmp_8[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 753 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 754 | |
| 755 | static const real_T tmp_9[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 756 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 757 | |
| 758 | int32_T exitg1; |
| 759 | b_obj = obj; |
| 760 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 761 | obj->NameInternal->size[0] = 1; |
| 762 | obj->NameInternal->size[1] = 13; |
| 763 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 764 | for (b_kstr = 0; b_kstr < 13; b_kstr++) { |
| 765 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 766 | } |
| 767 | |
| 768 | obj->ParentIndex = 0.0; |
| 769 | obj->MassInternal = 0.0785942338762368; |
| 770 | obj->CenterOfMassInternal[0] = 0.057188; |
| 771 | obj->CenterOfMassInternal[1] = 0.005983; |
| 772 | obj->CenterOfMassInternal[2] = 0.05; |
| 773 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 774 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 775 | } |
| 776 | |
| 777 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 778 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 779 | } |
| 780 | |
| 781 | obj->JointInternal.InTree = false; |
| 782 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 783 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 784 | } |
| 785 | |
| 786 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 787 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 788 | } |
| 789 | |
| 790 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 791 | obj->JointInternal.NameInternal->size[1]; |
| 792 | obj->JointInternal.NameInternal->size[0] = 1; |
| 793 | obj->JointInternal.NameInternal->size[1] = 15; |
| 794 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 795 | localB); |
| 796 | for (b_kstr = 0; b_kstr < 15; b_kstr++) { |
| 797 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 798 | } |
| 799 | |
| 800 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 801 | obj->JointInternal.Type->size[0] = 1; |
| 802 | obj->JointInternal.Type->size[1] = 5; |
| 803 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 804 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 805 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 806 | } |
| 807 | |
| 808 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 809 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 810 | switch_expression->size[0] = 1; |
| 811 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 812 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 813 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 814 | - 1; |
| 815 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 816 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 817 | } |
| 818 | |
| 819 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 820 | b[b_kstr] = tmp_6[b_kstr]; |
| 821 | } |
| 822 | |
| 823 | b_bool = false; |
| 824 | if (switch_expression->size[1] == 8) { |
| 825 | b_kstr = 1; |
| 826 | do { |
| 827 | exitg1 = 0; |
| 828 | if (b_kstr - 1 < 8) { |
| 829 | loop_ub = b_kstr - 1; |
| 830 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 831 | exitg1 = 1; |
| 832 | } else { |
| 833 | b_kstr++; |
| 834 | } |
| 835 | } else { |
| 836 | b_bool = true; |
| 837 | exitg1 = 1; |
| 838 | } |
| 839 | } while (exitg1 == 0); |
| 840 | } |
| 841 | |
| 842 | if (b_bool) { |
| 843 | b_kstr = 0; |
| 844 | } else { |
| 845 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 846 | b_0[b_kstr] = tmp_7[b_kstr]; |
| 847 | } |
| 848 | |
| 849 | b_bool = false; |
| 850 | if (switch_expression->size[1] == 9) { |
| 851 | b_kstr = 1; |
| 852 | do { |
| 853 | exitg1 = 0; |
| 854 | if (b_kstr - 1 < 9) { |
| 855 | loop_ub = b_kstr - 1; |
| 856 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 857 | exitg1 = 1; |
| 858 | } else { |
| 859 | b_kstr++; |
| 860 | } |
| 861 | } else { |
| 862 | b_bool = true; |
| 863 | exitg1 = 1; |
| 864 | } |
| 865 | } while (exitg1 == 0); |
| 866 | } |
| 867 | |
| 868 | if (b_bool) { |
| 869 | b_kstr = 1; |
| 870 | } else { |
| 871 | b_kstr = -1; |
| 872 | } |
| 873 | } |
| 874 | |
| 875 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 876 | switch (b_kstr) { |
| 877 | case 0: |
| 878 | tmp[0] = 0; |
| 879 | tmp[1] = 0; |
| 880 | tmp[2] = 1; |
| 881 | tmp[3] = 0; |
| 882 | tmp[4] = 0; |
| 883 | tmp[5] = 0; |
| 884 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 885 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 886 | } |
| 887 | |
| 888 | poslim_data[0] = -3.1415926535897931; |
| 889 | poslim_data[1] = 3.1415926535897931; |
| 890 | obj->JointInternal.VelocityNumber = 1.0; |
| 891 | obj->JointInternal.PositionNumber = 1.0; |
| 892 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 893 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 894 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 895 | break; |
| 896 | |
| 897 | case 1: |
| 898 | tmp[0] = 0; |
| 899 | tmp[1] = 0; |
| 900 | tmp[2] = 0; |
| 901 | tmp[3] = 0; |
| 902 | tmp[4] = 0; |
| 903 | tmp[5] = 1; |
| 904 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 905 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 906 | } |
| 907 | |
| 908 | poslim_data[0] = -0.5; |
| 909 | poslim_data[1] = 0.5; |
| 910 | obj->JointInternal.VelocityNumber = 1.0; |
| 911 | obj->JointInternal.PositionNumber = 1.0; |
| 912 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 913 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 914 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 915 | break; |
| 916 | |
| 917 | default: |
| 918 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 919 | msubspace_data[b_kstr] = 0; |
| 920 | } |
| 921 | |
| 922 | poslim_data[0] = 0.0; |
| 923 | poslim_data[1] = 0.0; |
| 924 | obj->JointInternal.VelocityNumber = 0.0; |
| 925 | obj->JointInternal.PositionNumber = 0.0; |
| 926 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 927 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 928 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 929 | break; |
| 930 | } |
| 931 | |
| 932 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 933 | obj->JointInternal.MotionSubspace->size[1]; |
| 934 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 935 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 936 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 937 | localB); |
| 938 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 939 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 940 | } |
| 941 | |
| 942 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 943 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 944 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 945 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 946 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 947 | b_kstr, localB); |
| 948 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 949 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 950 | } |
| 951 | |
| 952 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 953 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 954 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 955 | b_kstr, localB); |
| 956 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 957 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 958 | } |
| 959 | |
| 960 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 961 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_8[b_kstr]; |
| 962 | } |
| 963 | |
| 964 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 965 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_9[b_kstr]; |
| 966 | } |
| 967 | |
| 968 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 969 | obj->JointInternal.MotionSubspace->size[1]; |
| 970 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 971 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 972 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 973 | localB); |
| 974 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 975 | obj->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 976 | } |
| 977 | |
| 978 | obj->JointInternal.InTree = true; |
| 979 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 980 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 981 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 982 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 983 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 984 | b_kstr, localB); |
| 985 | obj->JointInternal.PositionLimitsInternal->data[0] = 0.0; |
| 986 | obj->JointInternal.PositionLimitsInternal->data |
| 987 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 0.0; |
| 988 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 989 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 990 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 991 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 992 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 993 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 994 | b_kstr, localB); |
| 995 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 996 | return b_obj; |
| 997 | } |
| 998 | |
| 999 | static v_robotics_manip_internal_Rig_T *cartesian_RigidBody_RigidBody_b |
| 1000 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 1001 | { |
| 1002 | v_robotics_manip_internal_Rig_T *b_obj; |
| 1003 | int8_T msubspace_data[36]; |
| 1004 | real_T poslim_data[12]; |
| 1005 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 1006 | boolean_T b_bool; |
| 1007 | int32_T b_kstr; |
| 1008 | char_T b[8]; |
| 1009 | char_T b_0[9]; |
| 1010 | int32_T loop_ub; |
| 1011 | int8_T tmp[6]; |
| 1012 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 1013 | '1' }; |
| 1014 | |
| 1015 | static const real_T tmp_1[9] = { 0.012559660892485551, 0.00032713982710414, |
| 1016 | -1.32683892634271E-6, 0.00032713982710414, 0.00018048007331848145, |
| 1017 | 9.17416945099368E-5, -1.32683892634271E-6, 9.17416945099368E-5, |
| 1018 | 0.012672078048055372 }; |
| 1019 | |
| 1020 | static const real_T tmp_2[36] = { 0.012559660892485551, 0.00032713982710414, |
| 1021 | -1.32683892634271E-6, 0.0, -0.0, 0.0037143634929909515, 0.00032713982710414, |
| 1022 | 0.00018048007331848145, 9.17416945099368E-5, 0.0, 0.0, 0.0029444543779393356, |
| 1023 | -1.32683892634271E-6, 9.17416945099368E-5, 0.012672078048055372, |
| 1024 | -0.0037143634929909515, -0.0029444543779393356, 0.0, 0.0, 0.0, |
| 1025 | -0.0037143634929909515, 0.0785942338762368, 0.0, 0.0, -0.0, 0.0, |
| 1026 | -0.0029444543779393356, 0.0, 0.0785942338762368, 0.0, 0.0037143634929909515, |
| 1027 | 0.0029444543779393356, 0.0, 0.0, 0.0, 0.0785942338762368 }; |
| 1028 | |
| 1029 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 1030 | 1 }; |
| 1031 | |
| 1032 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 1033 | '_', '1' }; |
| 1034 | |
| 1035 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1036 | |
| 1037 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 1038 | |
| 1039 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 1040 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.337, 1.0 }; |
| 1041 | |
| 1042 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 1043 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 1044 | |
| 1045 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1046 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1047 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 1048 | |
| 1049 | int32_T exitg1; |
| 1050 | b_obj = obj; |
| 1051 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 1052 | obj->NameInternal->size[0] = 1; |
| 1053 | obj->NameInternal->size[1] = 10; |
| 1054 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 1055 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 1056 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 1057 | } |
| 1058 | |
| 1059 | obj->ParentIndex = 1.0; |
| 1060 | obj->MassInternal = 0.0785942338762368; |
| 1061 | obj->CenterOfMassInternal[0] = -0.037464; |
| 1062 | obj->CenterOfMassInternal[1] = 0.04726; |
| 1063 | obj->CenterOfMassInternal[2] = 0.0; |
| 1064 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1065 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 1066 | } |
| 1067 | |
| 1068 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 1069 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 1070 | } |
| 1071 | |
| 1072 | obj->JointInternal.InTree = false; |
| 1073 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1074 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 1075 | } |
| 1076 | |
| 1077 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1078 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 1079 | } |
| 1080 | |
| 1081 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 1082 | obj->JointInternal.NameInternal->size[1]; |
| 1083 | obj->JointInternal.NameInternal->size[0] = 1; |
| 1084 | obj->JointInternal.NameInternal->size[1] = 11; |
| 1085 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 1086 | localB); |
| 1087 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 1088 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 1089 | } |
| 1090 | |
| 1091 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 1092 | obj->JointInternal.Type->size[0] = 1; |
| 1093 | obj->JointInternal.Type->size[1] = 8; |
| 1094 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 1095 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1096 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 1097 | } |
| 1098 | |
| 1099 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 1100 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 1101 | switch_expression->size[0] = 1; |
| 1102 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 1103 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 1104 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 1105 | - 1; |
| 1106 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1107 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 1108 | } |
| 1109 | |
| 1110 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1111 | b[b_kstr] = tmp_5[b_kstr]; |
| 1112 | } |
| 1113 | |
| 1114 | b_bool = false; |
| 1115 | if (switch_expression->size[1] == 8) { |
| 1116 | b_kstr = 1; |
| 1117 | do { |
| 1118 | exitg1 = 0; |
| 1119 | if (b_kstr - 1 < 8) { |
| 1120 | loop_ub = b_kstr - 1; |
| 1121 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 1122 | exitg1 = 1; |
| 1123 | } else { |
| 1124 | b_kstr++; |
| 1125 | } |
| 1126 | } else { |
| 1127 | b_bool = true; |
| 1128 | exitg1 = 1; |
| 1129 | } |
| 1130 | } while (exitg1 == 0); |
| 1131 | } |
| 1132 | |
| 1133 | if (b_bool) { |
| 1134 | b_kstr = 0; |
| 1135 | } else { |
| 1136 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1137 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 1138 | } |
| 1139 | |
| 1140 | b_bool = false; |
| 1141 | if (switch_expression->size[1] == 9) { |
| 1142 | b_kstr = 1; |
| 1143 | do { |
| 1144 | exitg1 = 0; |
| 1145 | if (b_kstr - 1 < 9) { |
| 1146 | loop_ub = b_kstr - 1; |
| 1147 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 1148 | exitg1 = 1; |
| 1149 | } else { |
| 1150 | b_kstr++; |
| 1151 | } |
| 1152 | } else { |
| 1153 | b_bool = true; |
| 1154 | exitg1 = 1; |
| 1155 | } |
| 1156 | } while (exitg1 == 0); |
| 1157 | } |
| 1158 | |
| 1159 | if (b_bool) { |
| 1160 | b_kstr = 1; |
| 1161 | } else { |
| 1162 | b_kstr = -1; |
| 1163 | } |
| 1164 | } |
| 1165 | |
| 1166 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 1167 | switch (b_kstr) { |
| 1168 | case 0: |
| 1169 | tmp[0] = 0; |
| 1170 | tmp[1] = 0; |
| 1171 | tmp[2] = 1; |
| 1172 | tmp[3] = 0; |
| 1173 | tmp[4] = 0; |
| 1174 | tmp[5] = 0; |
| 1175 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1176 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1177 | } |
| 1178 | |
| 1179 | poslim_data[0] = -3.1415926535897931; |
| 1180 | poslim_data[1] = 3.1415926535897931; |
| 1181 | obj->JointInternal.VelocityNumber = 1.0; |
| 1182 | obj->JointInternal.PositionNumber = 1.0; |
| 1183 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1184 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1185 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1186 | break; |
| 1187 | |
| 1188 | case 1: |
| 1189 | tmp[0] = 0; |
| 1190 | tmp[1] = 0; |
| 1191 | tmp[2] = 0; |
| 1192 | tmp[3] = 0; |
| 1193 | tmp[4] = 0; |
| 1194 | tmp[5] = 1; |
| 1195 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1196 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1197 | } |
| 1198 | |
| 1199 | poslim_data[0] = -0.5; |
| 1200 | poslim_data[1] = 0.5; |
| 1201 | obj->JointInternal.VelocityNumber = 1.0; |
| 1202 | obj->JointInternal.PositionNumber = 1.0; |
| 1203 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1204 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1205 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1206 | break; |
| 1207 | |
| 1208 | default: |
| 1209 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1210 | msubspace_data[b_kstr] = 0; |
| 1211 | } |
| 1212 | |
| 1213 | poslim_data[0] = 0.0; |
| 1214 | poslim_data[1] = 0.0; |
| 1215 | obj->JointInternal.VelocityNumber = 0.0; |
| 1216 | obj->JointInternal.PositionNumber = 0.0; |
| 1217 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1218 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1219 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 1220 | break; |
| 1221 | } |
| 1222 | |
| 1223 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1224 | obj->JointInternal.MotionSubspace->size[1]; |
| 1225 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1226 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1227 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1228 | localB); |
| 1229 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1230 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 1231 | } |
| 1232 | |
| 1233 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1234 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1235 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1236 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1237 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1238 | b_kstr, localB); |
| 1239 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 1240 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 1241 | } |
| 1242 | |
| 1243 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1244 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1245 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1246 | b_kstr, localB); |
| 1247 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 1248 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1249 | } |
| 1250 | |
| 1251 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1252 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 1253 | } |
| 1254 | |
| 1255 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1256 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 1257 | } |
| 1258 | |
| 1259 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1260 | obj->JointInternal.MotionSubspace->size[1]; |
| 1261 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1262 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1263 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1264 | localB); |
| 1265 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1266 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 1267 | } |
| 1268 | |
| 1269 | obj->JointInternal.InTree = true; |
| 1270 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1271 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1272 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1273 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1274 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1275 | b_kstr, localB); |
| 1276 | obj->JointInternal.PositionLimitsInternal->data[0] = -3.10668606855; |
| 1277 | obj->JointInternal.PositionLimitsInternal->data |
| 1278 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 3.10668606855; |
| 1279 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1280 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1281 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1282 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1283 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1284 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1285 | b_kstr, localB); |
| 1286 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1287 | return b_obj; |
| 1288 | } |
| 1289 | |
| 1290 | static v_robotics_manip_internal_Rig_T *cartesia_RigidBody_RigidBody_by |
| 1291 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 1292 | { |
| 1293 | v_robotics_manip_internal_Rig_T *b_obj; |
| 1294 | int8_T msubspace_data[36]; |
| 1295 | real_T poslim_data[12]; |
| 1296 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 1297 | boolean_T b_bool; |
| 1298 | int32_T b_kstr; |
| 1299 | char_T b[8]; |
| 1300 | char_T b_0[9]; |
| 1301 | int32_T loop_ub; |
| 1302 | int8_T tmp[6]; |
| 1303 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 1304 | '2' }; |
| 1305 | |
| 1306 | static const real_T tmp_1[9] = { 0.012452446533447339, 0.00097164648860403489, |
| 1307 | -0.0012079400901817208, 0.00097164648860403489, 0.0077631932790618, |
| 1308 | 0.0060529024261622953, -0.0012079400901817208, 0.0060529024261622953, |
| 1309 | 0.0051581160550583753 }; |
| 1310 | |
| 1311 | static const real_T tmp_2[36] = { 0.012452446533447339, 0.00097164648860403489, |
| 1312 | -0.0012079400901817208, 0.0, 0.0036112478581453288, 0.0024995324199659588, |
| 1313 | 0.00097164648860403489, 0.0077631932790618, 0.0060529024261622953, |
| 1314 | -0.0036112478581453288, 0.0, 0.0012907531029494371, -0.0012079400901817208, |
| 1315 | 0.0060529024261622953, 0.0051581160550583753, -0.0024995324199659588, |
| 1316 | -0.0012907531029494371, 0.0, 0.0, -0.0036112478581453288, |
| 1317 | -0.0024995324199659588, 0.0785942338762368, 0.0, 0.0, 0.0036112478581453288, |
| 1318 | 0.0, -0.0012907531029494371, 0.0, 0.0785942338762368, 0.0, |
| 1319 | 0.0024995324199659588, 0.0012907531029494371, 0.0, 0.0, 0.0, |
| 1320 | 0.0785942338762368 }; |
| 1321 | |
| 1322 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 1323 | 1 }; |
| 1324 | |
| 1325 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 1326 | '_', '2' }; |
| 1327 | |
| 1328 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1329 | |
| 1330 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 1331 | |
| 1332 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 1333 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 1334 | 0.0, 0.0, 0.0, 1.0 }; |
| 1335 | |
| 1336 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 1337 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 1338 | |
| 1339 | static const real_T tmp_9[36] = { 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1340 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1341 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 1342 | |
| 1343 | int32_T exitg1; |
| 1344 | b_obj = obj; |
| 1345 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 1346 | obj->NameInternal->size[0] = 1; |
| 1347 | obj->NameInternal->size[1] = 10; |
| 1348 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 1349 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 1350 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 1351 | } |
| 1352 | |
| 1353 | obj->ParentIndex = 2.0; |
| 1354 | obj->MassInternal = 0.0785942338762368; |
| 1355 | obj->CenterOfMassInternal[0] = -0.016423; |
| 1356 | obj->CenterOfMassInternal[1] = 0.031803; |
| 1357 | obj->CenterOfMassInternal[2] = -0.045948; |
| 1358 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1359 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 1360 | } |
| 1361 | |
| 1362 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 1363 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 1364 | } |
| 1365 | |
| 1366 | obj->JointInternal.InTree = false; |
| 1367 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1368 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 1369 | } |
| 1370 | |
| 1371 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1372 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 1373 | } |
| 1374 | |
| 1375 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 1376 | obj->JointInternal.NameInternal->size[1]; |
| 1377 | obj->JointInternal.NameInternal->size[0] = 1; |
| 1378 | obj->JointInternal.NameInternal->size[1] = 11; |
| 1379 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 1380 | localB); |
| 1381 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 1382 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 1383 | } |
| 1384 | |
| 1385 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 1386 | obj->JointInternal.Type->size[0] = 1; |
| 1387 | obj->JointInternal.Type->size[1] = 8; |
| 1388 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 1389 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1390 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 1391 | } |
| 1392 | |
| 1393 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 1394 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 1395 | switch_expression->size[0] = 1; |
| 1396 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 1397 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 1398 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 1399 | - 1; |
| 1400 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1401 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 1402 | } |
| 1403 | |
| 1404 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1405 | b[b_kstr] = tmp_5[b_kstr]; |
| 1406 | } |
| 1407 | |
| 1408 | b_bool = false; |
| 1409 | if (switch_expression->size[1] == 8) { |
| 1410 | b_kstr = 1; |
| 1411 | do { |
| 1412 | exitg1 = 0; |
| 1413 | if (b_kstr - 1 < 8) { |
| 1414 | loop_ub = b_kstr - 1; |
| 1415 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 1416 | exitg1 = 1; |
| 1417 | } else { |
| 1418 | b_kstr++; |
| 1419 | } |
| 1420 | } else { |
| 1421 | b_bool = true; |
| 1422 | exitg1 = 1; |
| 1423 | } |
| 1424 | } while (exitg1 == 0); |
| 1425 | } |
| 1426 | |
| 1427 | if (b_bool) { |
| 1428 | b_kstr = 0; |
| 1429 | } else { |
| 1430 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1431 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 1432 | } |
| 1433 | |
| 1434 | b_bool = false; |
| 1435 | if (switch_expression->size[1] == 9) { |
| 1436 | b_kstr = 1; |
| 1437 | do { |
| 1438 | exitg1 = 0; |
| 1439 | if (b_kstr - 1 < 9) { |
| 1440 | loop_ub = b_kstr - 1; |
| 1441 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 1442 | exitg1 = 1; |
| 1443 | } else { |
| 1444 | b_kstr++; |
| 1445 | } |
| 1446 | } else { |
| 1447 | b_bool = true; |
| 1448 | exitg1 = 1; |
| 1449 | } |
| 1450 | } while (exitg1 == 0); |
| 1451 | } |
| 1452 | |
| 1453 | if (b_bool) { |
| 1454 | b_kstr = 1; |
| 1455 | } else { |
| 1456 | b_kstr = -1; |
| 1457 | } |
| 1458 | } |
| 1459 | |
| 1460 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 1461 | switch (b_kstr) { |
| 1462 | case 0: |
| 1463 | tmp[0] = 0; |
| 1464 | tmp[1] = 0; |
| 1465 | tmp[2] = 1; |
| 1466 | tmp[3] = 0; |
| 1467 | tmp[4] = 0; |
| 1468 | tmp[5] = 0; |
| 1469 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1470 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1471 | } |
| 1472 | |
| 1473 | poslim_data[0] = -3.1415926535897931; |
| 1474 | poslim_data[1] = 3.1415926535897931; |
| 1475 | obj->JointInternal.VelocityNumber = 1.0; |
| 1476 | obj->JointInternal.PositionNumber = 1.0; |
| 1477 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1478 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1479 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1480 | break; |
| 1481 | |
| 1482 | case 1: |
| 1483 | tmp[0] = 0; |
| 1484 | tmp[1] = 0; |
| 1485 | tmp[2] = 0; |
| 1486 | tmp[3] = 0; |
| 1487 | tmp[4] = 0; |
| 1488 | tmp[5] = 1; |
| 1489 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1490 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1491 | } |
| 1492 | |
| 1493 | poslim_data[0] = -0.5; |
| 1494 | poslim_data[1] = 0.5; |
| 1495 | obj->JointInternal.VelocityNumber = 1.0; |
| 1496 | obj->JointInternal.PositionNumber = 1.0; |
| 1497 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1498 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1499 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1500 | break; |
| 1501 | |
| 1502 | default: |
| 1503 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1504 | msubspace_data[b_kstr] = 0; |
| 1505 | } |
| 1506 | |
| 1507 | poslim_data[0] = 0.0; |
| 1508 | poslim_data[1] = 0.0; |
| 1509 | obj->JointInternal.VelocityNumber = 0.0; |
| 1510 | obj->JointInternal.PositionNumber = 0.0; |
| 1511 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1512 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1513 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 1514 | break; |
| 1515 | } |
| 1516 | |
| 1517 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1518 | obj->JointInternal.MotionSubspace->size[1]; |
| 1519 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1520 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1521 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1522 | localB); |
| 1523 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1524 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 1525 | } |
| 1526 | |
| 1527 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1528 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1529 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1530 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1531 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1532 | b_kstr, localB); |
| 1533 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 1534 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 1535 | } |
| 1536 | |
| 1537 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1538 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1539 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1540 | b_kstr, localB); |
| 1541 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 1542 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1543 | } |
| 1544 | |
| 1545 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1546 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 1547 | } |
| 1548 | |
| 1549 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1550 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 1551 | } |
| 1552 | |
| 1553 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1554 | obj->JointInternal.MotionSubspace->size[1]; |
| 1555 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1556 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1557 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1558 | localB); |
| 1559 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1560 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 1561 | } |
| 1562 | |
| 1563 | obj->JointInternal.InTree = true; |
| 1564 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1565 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1566 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1567 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1568 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1569 | b_kstr, localB); |
| 1570 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.71042266695; |
| 1571 | obj->JointInternal.PositionLimitsInternal->data |
| 1572 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.71042266695; |
| 1573 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1574 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1575 | obj->JointInternal.JointAxisInternal[2] = -1.0; |
| 1576 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1577 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1578 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1579 | b_kstr, localB); |
| 1580 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1581 | return b_obj; |
| 1582 | } |
| 1583 | |
| 1584 | static v_robotics_manip_internal_Rig_T *cartesi_RigidBody_RigidBody_bya |
| 1585 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 1586 | { |
| 1587 | v_robotics_manip_internal_Rig_T *b_obj; |
| 1588 | int8_T msubspace_data[36]; |
| 1589 | real_T poslim_data[12]; |
| 1590 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 1591 | boolean_T b_bool; |
| 1592 | int32_T b_kstr; |
| 1593 | char_T b[8]; |
| 1594 | char_T b_0[9]; |
| 1595 | int32_T loop_ub; |
| 1596 | int8_T tmp[6]; |
| 1597 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 1598 | '3' }; |
| 1599 | |
| 1600 | static const real_T tmp_1[9] = { 0.0123976159829631, 0.00022039108420015264, |
| 1601 | 2.1332825710116445E-6, 0.00022039108420015264, 0.00014803877895089843, |
| 1602 | -9.2077339045129963E-5, 2.1332825710116445E-6, -9.2077339045129963E-5, |
| 1603 | 0.012477575138803739 }; |
| 1604 | |
| 1605 | static const real_T tmp_2[36] = { 0.0123976159829631, 0.00022039108420015264, |
| 1606 | 2.1332825710116445E-6, 0.0, -2.56217202436532E-5, 0.0010295844637787021, |
| 1607 | 0.00022039108420015264, 0.00014803877895089843, -9.2077339045129963E-5, |
| 1608 | 2.56217202436532E-5, 0.0, 0.0024737535112545539, 2.1332825710116445E-6, |
| 1609 | -9.2077339045129963E-5, 0.012477575138803739, -0.0010295844637787021, |
| 1610 | -0.0024737535112545539, 0.0, 0.0, 2.56217202436532E-5, |
| 1611 | -0.0010295844637787021, 0.0785942338762368, 0.0, 0.0, -2.56217202436532E-5, |
| 1612 | 0.0, -0.0024737535112545539, 0.0, 0.0785942338762368, 0.0, |
| 1613 | 0.0010295844637787021, 0.0024737535112545539, 0.0, 0.0, 0.0, |
| 1614 | 0.0785942338762368 }; |
| 1615 | |
| 1616 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 1617 | 1 }; |
| 1618 | |
| 1619 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 1620 | '_', '3' }; |
| 1621 | |
| 1622 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1623 | |
| 1624 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 1625 | |
| 1626 | static const real_T tmp_7[16] = { 1.0, 2.0682310711021444E-13, |
| 1627 | 2.0682310711021444E-13, 0.0, 2.0682310711021444E-13, -1.0, -0.0, 0.0, |
| 1628 | 2.0682310711021444E-13, 4.2775797634723234E-26, -1.0, 0.0, 0.0, 0.2105, 0.0, |
| 1629 | 1.0 }; |
| 1630 | |
| 1631 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 1632 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 1633 | |
| 1634 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1635 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1636 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 1637 | |
| 1638 | int32_T exitg1; |
| 1639 | b_obj = obj; |
| 1640 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 1641 | obj->NameInternal->size[0] = 1; |
| 1642 | obj->NameInternal->size[1] = 10; |
| 1643 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 1644 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 1645 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 1646 | } |
| 1647 | |
| 1648 | obj->ParentIndex = 3.0; |
| 1649 | obj->MassInternal = 0.0785942338762368; |
| 1650 | obj->CenterOfMassInternal[0] = -0.031475; |
| 1651 | obj->CenterOfMassInternal[1] = 0.0131; |
| 1652 | obj->CenterOfMassInternal[2] = 0.000326; |
| 1653 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1654 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 1655 | } |
| 1656 | |
| 1657 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 1658 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 1659 | } |
| 1660 | |
| 1661 | obj->JointInternal.InTree = false; |
| 1662 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1663 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 1664 | } |
| 1665 | |
| 1666 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1667 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 1668 | } |
| 1669 | |
| 1670 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 1671 | obj->JointInternal.NameInternal->size[1]; |
| 1672 | obj->JointInternal.NameInternal->size[0] = 1; |
| 1673 | obj->JointInternal.NameInternal->size[1] = 11; |
| 1674 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 1675 | localB); |
| 1676 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 1677 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 1678 | } |
| 1679 | |
| 1680 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 1681 | obj->JointInternal.Type->size[0] = 1; |
| 1682 | obj->JointInternal.Type->size[1] = 8; |
| 1683 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 1684 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1685 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 1686 | } |
| 1687 | |
| 1688 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 1689 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 1690 | switch_expression->size[0] = 1; |
| 1691 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 1692 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 1693 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 1694 | - 1; |
| 1695 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1696 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 1697 | } |
| 1698 | |
| 1699 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1700 | b[b_kstr] = tmp_5[b_kstr]; |
| 1701 | } |
| 1702 | |
| 1703 | b_bool = false; |
| 1704 | if (switch_expression->size[1] == 8) { |
| 1705 | b_kstr = 1; |
| 1706 | do { |
| 1707 | exitg1 = 0; |
| 1708 | if (b_kstr - 1 < 8) { |
| 1709 | loop_ub = b_kstr - 1; |
| 1710 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 1711 | exitg1 = 1; |
| 1712 | } else { |
| 1713 | b_kstr++; |
| 1714 | } |
| 1715 | } else { |
| 1716 | b_bool = true; |
| 1717 | exitg1 = 1; |
| 1718 | } |
| 1719 | } while (exitg1 == 0); |
| 1720 | } |
| 1721 | |
| 1722 | if (b_bool) { |
| 1723 | b_kstr = 0; |
| 1724 | } else { |
| 1725 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1726 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 1727 | } |
| 1728 | |
| 1729 | b_bool = false; |
| 1730 | if (switch_expression->size[1] == 9) { |
| 1731 | b_kstr = 1; |
| 1732 | do { |
| 1733 | exitg1 = 0; |
| 1734 | if (b_kstr - 1 < 9) { |
| 1735 | loop_ub = b_kstr - 1; |
| 1736 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 1737 | exitg1 = 1; |
| 1738 | } else { |
| 1739 | b_kstr++; |
| 1740 | } |
| 1741 | } else { |
| 1742 | b_bool = true; |
| 1743 | exitg1 = 1; |
| 1744 | } |
| 1745 | } while (exitg1 == 0); |
| 1746 | } |
| 1747 | |
| 1748 | if (b_bool) { |
| 1749 | b_kstr = 1; |
| 1750 | } else { |
| 1751 | b_kstr = -1; |
| 1752 | } |
| 1753 | } |
| 1754 | |
| 1755 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 1756 | switch (b_kstr) { |
| 1757 | case 0: |
| 1758 | tmp[0] = 0; |
| 1759 | tmp[1] = 0; |
| 1760 | tmp[2] = 1; |
| 1761 | tmp[3] = 0; |
| 1762 | tmp[4] = 0; |
| 1763 | tmp[5] = 0; |
| 1764 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1765 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1766 | } |
| 1767 | |
| 1768 | poslim_data[0] = -3.1415926535897931; |
| 1769 | poslim_data[1] = 3.1415926535897931; |
| 1770 | obj->JointInternal.VelocityNumber = 1.0; |
| 1771 | obj->JointInternal.PositionNumber = 1.0; |
| 1772 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1773 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1774 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1775 | break; |
| 1776 | |
| 1777 | case 1: |
| 1778 | tmp[0] = 0; |
| 1779 | tmp[1] = 0; |
| 1780 | tmp[2] = 0; |
| 1781 | tmp[3] = 0; |
| 1782 | tmp[4] = 0; |
| 1783 | tmp[5] = 1; |
| 1784 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1785 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 1786 | } |
| 1787 | |
| 1788 | poslim_data[0] = -0.5; |
| 1789 | poslim_data[1] = 0.5; |
| 1790 | obj->JointInternal.VelocityNumber = 1.0; |
| 1791 | obj->JointInternal.PositionNumber = 1.0; |
| 1792 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1793 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1794 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1795 | break; |
| 1796 | |
| 1797 | default: |
| 1798 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1799 | msubspace_data[b_kstr] = 0; |
| 1800 | } |
| 1801 | |
| 1802 | poslim_data[0] = 0.0; |
| 1803 | poslim_data[1] = 0.0; |
| 1804 | obj->JointInternal.VelocityNumber = 0.0; |
| 1805 | obj->JointInternal.PositionNumber = 0.0; |
| 1806 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1807 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1808 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 1809 | break; |
| 1810 | } |
| 1811 | |
| 1812 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1813 | obj->JointInternal.MotionSubspace->size[1]; |
| 1814 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1815 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1816 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1817 | localB); |
| 1818 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1819 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 1820 | } |
| 1821 | |
| 1822 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1823 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1824 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1825 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1826 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1827 | b_kstr, localB); |
| 1828 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 1829 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 1830 | } |
| 1831 | |
| 1832 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1833 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1834 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1835 | b_kstr, localB); |
| 1836 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 1837 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1838 | } |
| 1839 | |
| 1840 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1841 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 1842 | } |
| 1843 | |
| 1844 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1845 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 1846 | } |
| 1847 | |
| 1848 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 1849 | obj->JointInternal.MotionSubspace->size[1]; |
| 1850 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 1851 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 1852 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 1853 | localB); |
| 1854 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 1855 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 1856 | } |
| 1857 | |
| 1858 | obj->JointInternal.InTree = true; |
| 1859 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 1860 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 1861 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 1862 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 1863 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 1864 | b_kstr, localB); |
| 1865 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.71042266695; |
| 1866 | obj->JointInternal.PositionLimitsInternal->data |
| 1867 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.71042266695; |
| 1868 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 1869 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 1870 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 1871 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 1872 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 1873 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 1874 | b_kstr, localB); |
| 1875 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 1876 | return b_obj; |
| 1877 | } |
| 1878 | |
| 1879 | static v_robotics_manip_internal_Rig_T *cartes_RigidBody_RigidBody_byap |
| 1880 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 1881 | { |
| 1882 | v_robotics_manip_internal_Rig_T *b_obj; |
| 1883 | int8_T msubspace_data[36]; |
| 1884 | real_T poslim_data[12]; |
| 1885 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 1886 | boolean_T b_bool; |
| 1887 | int32_T b_kstr; |
| 1888 | char_T b[8]; |
| 1889 | char_T b_0[9]; |
| 1890 | int32_T loop_ub; |
| 1891 | int8_T tmp[6]; |
| 1892 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 1893 | '4' }; |
| 1894 | |
| 1895 | static const real_T tmp_1[9] = { 0.0123990349928174, -2.7766271471639167E-6, |
| 1896 | 0.00022466935228286869, -2.7766271471639167E-6, 0.012491487094789458, |
| 1897 | 9.2330220708293281E-5, 0.00022466935228286869, 9.2330220708293281E-5, |
| 1898 | 0.00016056153744711284 }; |
| 1899 | |
| 1900 | static const real_T tmp_2[36] = { 0.0123990349928174, -2.7766271471639167E-6, |
| 1901 | 0.00022466935228286869, 0.0, 0.0010818496293063995, 4.275526322867282E-5, |
| 1902 | -2.7766271471639167E-6, 0.012491487094789458, 9.2330220708293281E-5, |
| 1903 | -0.0010818496293063995, 0.0, -0.0026650518765093138, 0.00022466935228286869, |
| 1904 | 9.2330220708293281E-5, 0.00016056153744711284, -4.275526322867282E-5, |
| 1905 | 0.0026650518765093138, 0.0, 0.0, -0.0010818496293063995, |
| 1906 | -4.275526322867282E-5, 0.0785942338762368, 0.0, 0.0, 0.0010818496293063995, |
| 1907 | 0.0, 0.0026650518765093138, 0.0, 0.0785942338762368, 0.0, |
| 1908 | 4.275526322867282E-5, -0.0026650518765093138, 0.0, 0.0, 0.0, |
| 1909 | 0.0785942338762368 }; |
| 1910 | |
| 1911 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 1912 | 1 }; |
| 1913 | |
| 1914 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 1915 | '_', '4' }; |
| 1916 | |
| 1917 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 1918 | |
| 1919 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 1920 | |
| 1921 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, |
| 1922 | 4.8965888601467475E-12, 1.0, 0.0, 0.0, -1.0, 4.8965888601467475E-12, 0.0, |
| 1923 | 0.0, -0.268, 0.0, 1.0 }; |
| 1924 | |
| 1925 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 1926 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 1927 | |
| 1928 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1929 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 1930 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 1931 | |
| 1932 | int32_T exitg1; |
| 1933 | b_obj = obj; |
| 1934 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 1935 | obj->NameInternal->size[0] = 1; |
| 1936 | obj->NameInternal->size[1] = 10; |
| 1937 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 1938 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 1939 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 1940 | } |
| 1941 | |
| 1942 | obj->ParentIndex = 4.0; |
| 1943 | obj->MassInternal = 0.0785942338762368; |
| 1944 | obj->CenterOfMassInternal[0] = 0.033909; |
| 1945 | obj->CenterOfMassInternal[1] = 0.000544; |
| 1946 | obj->CenterOfMassInternal[2] = -0.013765; |
| 1947 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 1948 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 1949 | } |
| 1950 | |
| 1951 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 1952 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 1953 | } |
| 1954 | |
| 1955 | obj->JointInternal.InTree = false; |
| 1956 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1957 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 1958 | } |
| 1959 | |
| 1960 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 1961 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 1962 | } |
| 1963 | |
| 1964 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 1965 | obj->JointInternal.NameInternal->size[1]; |
| 1966 | obj->JointInternal.NameInternal->size[0] = 1; |
| 1967 | obj->JointInternal.NameInternal->size[1] = 11; |
| 1968 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 1969 | localB); |
| 1970 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 1971 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 1972 | } |
| 1973 | |
| 1974 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 1975 | obj->JointInternal.Type->size[0] = 1; |
| 1976 | obj->JointInternal.Type->size[1] = 8; |
| 1977 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 1978 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1979 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 1980 | } |
| 1981 | |
| 1982 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 1983 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 1984 | switch_expression->size[0] = 1; |
| 1985 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 1986 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 1987 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 1988 | - 1; |
| 1989 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 1990 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 1991 | } |
| 1992 | |
| 1993 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 1994 | b[b_kstr] = tmp_5[b_kstr]; |
| 1995 | } |
| 1996 | |
| 1997 | b_bool = false; |
| 1998 | if (switch_expression->size[1] == 8) { |
| 1999 | b_kstr = 1; |
| 2000 | do { |
| 2001 | exitg1 = 0; |
| 2002 | if (b_kstr - 1 < 8) { |
| 2003 | loop_ub = b_kstr - 1; |
| 2004 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 2005 | exitg1 = 1; |
| 2006 | } else { |
| 2007 | b_kstr++; |
| 2008 | } |
| 2009 | } else { |
| 2010 | b_bool = true; |
| 2011 | exitg1 = 1; |
| 2012 | } |
| 2013 | } while (exitg1 == 0); |
| 2014 | } |
| 2015 | |
| 2016 | if (b_bool) { |
| 2017 | b_kstr = 0; |
| 2018 | } else { |
| 2019 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2020 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 2021 | } |
| 2022 | |
| 2023 | b_bool = false; |
| 2024 | if (switch_expression->size[1] == 9) { |
| 2025 | b_kstr = 1; |
| 2026 | do { |
| 2027 | exitg1 = 0; |
| 2028 | if (b_kstr - 1 < 9) { |
| 2029 | loop_ub = b_kstr - 1; |
| 2030 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 2031 | exitg1 = 1; |
| 2032 | } else { |
| 2033 | b_kstr++; |
| 2034 | } |
| 2035 | } else { |
| 2036 | b_bool = true; |
| 2037 | exitg1 = 1; |
| 2038 | } |
| 2039 | } while (exitg1 == 0); |
| 2040 | } |
| 2041 | |
| 2042 | if (b_bool) { |
| 2043 | b_kstr = 1; |
| 2044 | } else { |
| 2045 | b_kstr = -1; |
| 2046 | } |
| 2047 | } |
| 2048 | |
| 2049 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 2050 | switch (b_kstr) { |
| 2051 | case 0: |
| 2052 | tmp[0] = 0; |
| 2053 | tmp[1] = 0; |
| 2054 | tmp[2] = 1; |
| 2055 | tmp[3] = 0; |
| 2056 | tmp[4] = 0; |
| 2057 | tmp[5] = 0; |
| 2058 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2059 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2060 | } |
| 2061 | |
| 2062 | poslim_data[0] = -3.1415926535897931; |
| 2063 | poslim_data[1] = 3.1415926535897931; |
| 2064 | obj->JointInternal.VelocityNumber = 1.0; |
| 2065 | obj->JointInternal.PositionNumber = 1.0; |
| 2066 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2067 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2068 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2069 | break; |
| 2070 | |
| 2071 | case 1: |
| 2072 | tmp[0] = 0; |
| 2073 | tmp[1] = 0; |
| 2074 | tmp[2] = 0; |
| 2075 | tmp[3] = 0; |
| 2076 | tmp[4] = 0; |
| 2077 | tmp[5] = 1; |
| 2078 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2079 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2080 | } |
| 2081 | |
| 2082 | poslim_data[0] = -0.5; |
| 2083 | poslim_data[1] = 0.5; |
| 2084 | obj->JointInternal.VelocityNumber = 1.0; |
| 2085 | obj->JointInternal.PositionNumber = 1.0; |
| 2086 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2087 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2088 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2089 | break; |
| 2090 | |
| 2091 | default: |
| 2092 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2093 | msubspace_data[b_kstr] = 0; |
| 2094 | } |
| 2095 | |
| 2096 | poslim_data[0] = 0.0; |
| 2097 | poslim_data[1] = 0.0; |
| 2098 | obj->JointInternal.VelocityNumber = 0.0; |
| 2099 | obj->JointInternal.PositionNumber = 0.0; |
| 2100 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2101 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2102 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 2103 | break; |
| 2104 | } |
| 2105 | |
| 2106 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2107 | obj->JointInternal.MotionSubspace->size[1]; |
| 2108 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2109 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2110 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2111 | localB); |
| 2112 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2113 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 2114 | } |
| 2115 | |
| 2116 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2117 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2118 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2119 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2120 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2121 | b_kstr, localB); |
| 2122 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 2123 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 2124 | } |
| 2125 | |
| 2126 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2127 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2128 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2129 | b_kstr, localB); |
| 2130 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 2131 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2132 | } |
| 2133 | |
| 2134 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2135 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 2136 | } |
| 2137 | |
| 2138 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2139 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 2140 | } |
| 2141 | |
| 2142 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2143 | obj->JointInternal.MotionSubspace->size[1]; |
| 2144 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2145 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2146 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2147 | localB); |
| 2148 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2149 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 2150 | } |
| 2151 | |
| 2152 | obj->JointInternal.InTree = true; |
| 2153 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2154 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2155 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2156 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2157 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2158 | b_kstr, localB); |
| 2159 | obj->JointInternal.PositionLimitsInternal->data[0] = -3.10668606855; |
| 2160 | obj->JointInternal.PositionLimitsInternal->data |
| 2161 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 3.10668606855; |
| 2162 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2163 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2164 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2165 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2166 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2167 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2168 | b_kstr, localB); |
| 2169 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2170 | return b_obj; |
| 2171 | } |
| 2172 | |
| 2173 | static v_robotics_manip_internal_Rig_T *carte_RigidBody_RigidBody_byapf |
| 2174 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 2175 | { |
| 2176 | v_robotics_manip_internal_Rig_T *b_obj; |
| 2177 | int8_T msubspace_data[36]; |
| 2178 | real_T poslim_data[12]; |
| 2179 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 2180 | boolean_T b_bool; |
| 2181 | int32_T b_kstr; |
| 2182 | char_T b[8]; |
| 2183 | char_T b_0[9]; |
| 2184 | int32_T loop_ub; |
| 2185 | int8_T tmp[6]; |
| 2186 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 2187 | '5' }; |
| 2188 | |
| 2189 | static const real_T tmp_1[9] = { 0.012440329403329006, 2.388185677857016E-6, |
| 2190 | 0.00012602126519218373, 2.388185677857016E-6, 0.012510746127660349, |
| 2191 | -9.077919321137075E-5, 0.00012602126519218373, -9.077919321137075E-5, |
| 2192 | 0.00013851261456175015 }; |
| 2193 | |
| 2194 | static const real_T tmp_2[36] = { 0.012440329403329006, 2.388185677857016E-6, |
| 2195 | 0.00012602126519218373, 0.0, -0.0021015312196166957, -3.5996159115316455E-5, |
| 2196 | 2.388185677857016E-6, 0.012510746127660349, -9.077919321137075E-5, |
| 2197 | 0.0021015312196166957, 0.0, -0.0023173509858408423, 0.00012602126519218373, |
| 2198 | -9.077919321137075E-5, 0.00013851261456175015, 3.5996159115316455E-5, |
| 2199 | 0.0023173509858408423, 0.0, 0.0, 0.0021015312196166957, |
| 2200 | 3.5996159115316455E-5, 0.0785942338762368, 0.0, 0.0, -0.0021015312196166957, |
| 2201 | 0.0, 0.0023173509858408423, 0.0, 0.0785942338762368, 0.0, |
| 2202 | -3.5996159115316455E-5, -0.0023173509858408423, 0.0, 0.0, 0.0, |
| 2203 | 0.0785942338762368 }; |
| 2204 | |
| 2205 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 2206 | 1 }; |
| 2207 | |
| 2208 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 2209 | '_', '5' }; |
| 2210 | |
| 2211 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 2212 | |
| 2213 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 2214 | |
| 2215 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2216 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 2217 | |
| 2218 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2219 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 2220 | |
| 2221 | static const real_T tmp_9[36] = { 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 2222 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 2223 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 2224 | |
| 2225 | int32_T exitg1; |
| 2226 | b_obj = obj; |
| 2227 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 2228 | obj->NameInternal->size[0] = 1; |
| 2229 | obj->NameInternal->size[1] = 10; |
| 2230 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 2231 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 2232 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 2233 | } |
| 2234 | |
| 2235 | obj->ParentIndex = 5.0; |
| 2236 | obj->MassInternal = 0.0785942338762368; |
| 2237 | obj->CenterOfMassInternal[0] = 0.029485; |
| 2238 | obj->CenterOfMassInternal[1] = -0.000458; |
| 2239 | obj->CenterOfMassInternal[2] = 0.026739; |
| 2240 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2241 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 2242 | } |
| 2243 | |
| 2244 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 2245 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 2246 | } |
| 2247 | |
| 2248 | obj->JointInternal.InTree = false; |
| 2249 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2250 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 2251 | } |
| 2252 | |
| 2253 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2254 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 2255 | } |
| 2256 | |
| 2257 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 2258 | obj->JointInternal.NameInternal->size[1]; |
| 2259 | obj->JointInternal.NameInternal->size[0] = 1; |
| 2260 | obj->JointInternal.NameInternal->size[1] = 11; |
| 2261 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 2262 | localB); |
| 2263 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 2264 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 2265 | } |
| 2266 | |
| 2267 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 2268 | obj->JointInternal.Type->size[0] = 1; |
| 2269 | obj->JointInternal.Type->size[1] = 8; |
| 2270 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 2271 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 2272 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 2273 | } |
| 2274 | |
| 2275 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 2276 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 2277 | switch_expression->size[0] = 1; |
| 2278 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 2279 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 2280 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 2281 | - 1; |
| 2282 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 2283 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 2284 | } |
| 2285 | |
| 2286 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 2287 | b[b_kstr] = tmp_5[b_kstr]; |
| 2288 | } |
| 2289 | |
| 2290 | b_bool = false; |
| 2291 | if (switch_expression->size[1] == 8) { |
| 2292 | b_kstr = 1; |
| 2293 | do { |
| 2294 | exitg1 = 0; |
| 2295 | if (b_kstr - 1 < 8) { |
| 2296 | loop_ub = b_kstr - 1; |
| 2297 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 2298 | exitg1 = 1; |
| 2299 | } else { |
| 2300 | b_kstr++; |
| 2301 | } |
| 2302 | } else { |
| 2303 | b_bool = true; |
| 2304 | exitg1 = 1; |
| 2305 | } |
| 2306 | } while (exitg1 == 0); |
| 2307 | } |
| 2308 | |
| 2309 | if (b_bool) { |
| 2310 | b_kstr = 0; |
| 2311 | } else { |
| 2312 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2313 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 2314 | } |
| 2315 | |
| 2316 | b_bool = false; |
| 2317 | if (switch_expression->size[1] == 9) { |
| 2318 | b_kstr = 1; |
| 2319 | do { |
| 2320 | exitg1 = 0; |
| 2321 | if (b_kstr - 1 < 9) { |
| 2322 | loop_ub = b_kstr - 1; |
| 2323 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 2324 | exitg1 = 1; |
| 2325 | } else { |
| 2326 | b_kstr++; |
| 2327 | } |
| 2328 | } else { |
| 2329 | b_bool = true; |
| 2330 | exitg1 = 1; |
| 2331 | } |
| 2332 | } while (exitg1 == 0); |
| 2333 | } |
| 2334 | |
| 2335 | if (b_bool) { |
| 2336 | b_kstr = 1; |
| 2337 | } else { |
| 2338 | b_kstr = -1; |
| 2339 | } |
| 2340 | } |
| 2341 | |
| 2342 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 2343 | switch (b_kstr) { |
| 2344 | case 0: |
| 2345 | tmp[0] = 0; |
| 2346 | tmp[1] = 0; |
| 2347 | tmp[2] = 1; |
| 2348 | tmp[3] = 0; |
| 2349 | tmp[4] = 0; |
| 2350 | tmp[5] = 0; |
| 2351 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2352 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2353 | } |
| 2354 | |
| 2355 | poslim_data[0] = -3.1415926535897931; |
| 2356 | poslim_data[1] = 3.1415926535897931; |
| 2357 | obj->JointInternal.VelocityNumber = 1.0; |
| 2358 | obj->JointInternal.PositionNumber = 1.0; |
| 2359 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2360 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2361 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2362 | break; |
| 2363 | |
| 2364 | case 1: |
| 2365 | tmp[0] = 0; |
| 2366 | tmp[1] = 0; |
| 2367 | tmp[2] = 0; |
| 2368 | tmp[3] = 0; |
| 2369 | tmp[4] = 0; |
| 2370 | tmp[5] = 1; |
| 2371 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2372 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2373 | } |
| 2374 | |
| 2375 | poslim_data[0] = -0.5; |
| 2376 | poslim_data[1] = 0.5; |
| 2377 | obj->JointInternal.VelocityNumber = 1.0; |
| 2378 | obj->JointInternal.PositionNumber = 1.0; |
| 2379 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2380 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2381 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2382 | break; |
| 2383 | |
| 2384 | default: |
| 2385 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2386 | msubspace_data[b_kstr] = 0; |
| 2387 | } |
| 2388 | |
| 2389 | poslim_data[0] = 0.0; |
| 2390 | poslim_data[1] = 0.0; |
| 2391 | obj->JointInternal.VelocityNumber = 0.0; |
| 2392 | obj->JointInternal.PositionNumber = 0.0; |
| 2393 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2394 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2395 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 2396 | break; |
| 2397 | } |
| 2398 | |
| 2399 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2400 | obj->JointInternal.MotionSubspace->size[1]; |
| 2401 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2402 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2403 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2404 | localB); |
| 2405 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2406 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 2407 | } |
| 2408 | |
| 2409 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2410 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2411 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2412 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2413 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2414 | b_kstr, localB); |
| 2415 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 2416 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 2417 | } |
| 2418 | |
| 2419 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2420 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2421 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2422 | b_kstr, localB); |
| 2423 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 2424 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2425 | } |
| 2426 | |
| 2427 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2428 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 2429 | } |
| 2430 | |
| 2431 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2432 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 2433 | } |
| 2434 | |
| 2435 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2436 | obj->JointInternal.MotionSubspace->size[1]; |
| 2437 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2438 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2439 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2440 | localB); |
| 2441 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2442 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 2443 | } |
| 2444 | |
| 2445 | obj->JointInternal.InTree = true; |
| 2446 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2447 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2448 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2449 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2450 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2451 | b_kstr, localB); |
| 2452 | obj->JointInternal.PositionLimitsInternal->data[0] = -1.79768912955; |
| 2453 | obj->JointInternal.PositionLimitsInternal->data |
| 2454 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 1.79768912955; |
| 2455 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2456 | obj->JointInternal.JointAxisInternal[1] = 1.0; |
| 2457 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 2458 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2459 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2460 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2461 | b_kstr, localB); |
| 2462 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2463 | return b_obj; |
| 2464 | } |
| 2465 | |
| 2466 | static v_robotics_manip_internal_Rig_T *cart_RigidBody_RigidBody_byapfa |
| 2467 | (v_robotics_manip_internal_Rig_T *obj, B_MATLABSystem_cartesian_traj_T *localB) |
| 2468 | { |
| 2469 | v_robotics_manip_internal_Rig_T *b_obj; |
| 2470 | int8_T msubspace_data[36]; |
| 2471 | real_T poslim_data[12]; |
| 2472 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 2473 | boolean_T b_bool; |
| 2474 | int32_T b_kstr; |
| 2475 | char_T b[8]; |
| 2476 | char_T b_0[9]; |
| 2477 | int32_T loop_ub; |
| 2478 | int8_T tmp[6]; |
| 2479 | static const char_T tmp_0[10] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 2480 | '6' }; |
| 2481 | |
| 2482 | static const real_T tmp_1[9] = { 1.0067862401982823E-5, 2.0153545938371486E-9, |
| 2483 | 5.3285284099072352E-9, 2.0153545938371486E-9, 1.4574493611914028E-5, |
| 2484 | 1.6742291194075022E-9, 5.3285284099072352E-9, 1.6742291194075022E-9, |
| 2485 | 1.006193323459457E-5 }; |
| 2486 | |
| 2487 | static const real_T tmp_2[36] = { 1.0067862401982823E-5, 2.0153545938371486E-9, |
| 2488 | 5.3285284099072352E-9, 0.0, -1.6782149839359722E-7, -0.00026087851925284686, |
| 2489 | 2.0153545938371486E-9, 1.4574493611914028E-5, 1.6742291194075022E-9, |
| 2490 | 1.6782149839359722E-7, 0.0, -1.957917481258634E-7, 5.3285284099072352E-9, |
| 2491 | 1.6742291194075022E-9, 1.006193323459457E-5, 0.00026087851925284686, |
| 2492 | 1.957917481258634E-7, 0.0, 0.0, 1.6782149839359722E-7, |
| 2493 | 0.00026087851925284686, 0.0279702497322662, 0.0, 0.0, -1.6782149839359722E-7, |
| 2494 | 0.0, 1.957917481258634E-7, 0.0, 0.0279702497322662, 0.0, |
| 2495 | -0.00026087851925284686, -1.957917481258634E-7, 0.0, 0.0, 0.0, |
| 2496 | 0.0279702497322662 }; |
| 2497 | |
| 2498 | static const int8_T tmp_3[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 2499 | 1 }; |
| 2500 | |
| 2501 | static const char_T tmp_4[11] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 2502 | '_', '6' }; |
| 2503 | |
| 2504 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 2505 | |
| 2506 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 2507 | |
| 2508 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2509 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.1745, 1.0 }; |
| 2510 | |
| 2511 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2512 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 2513 | |
| 2514 | static const real_T tmp_9[36] = { 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 2515 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, |
| 2516 | 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 2517 | |
| 2518 | int32_T exitg1; |
| 2519 | b_obj = obj; |
| 2520 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 2521 | obj->NameInternal->size[0] = 1; |
| 2522 | obj->NameInternal->size[1] = 10; |
| 2523 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 2524 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 2525 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 2526 | } |
| 2527 | |
| 2528 | obj->ParentIndex = 6.0; |
| 2529 | obj->MassInternal = 0.0279702497322662; |
| 2530 | obj->CenterOfMassInternal[0] = 7.0E-6; |
| 2531 | obj->CenterOfMassInternal[1] = -0.009327; |
| 2532 | obj->CenterOfMassInternal[2] = 6.0E-6; |
| 2533 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2534 | obj->InertiaInternal[b_kstr] = tmp_1[b_kstr]; |
| 2535 | } |
| 2536 | |
| 2537 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 2538 | obj->SpatialInertia[b_kstr] = tmp_2[b_kstr]; |
| 2539 | } |
| 2540 | |
| 2541 | obj->JointInternal.InTree = false; |
| 2542 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2543 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_3[b_kstr]; |
| 2544 | } |
| 2545 | |
| 2546 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2547 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_3[b_kstr]; |
| 2548 | } |
| 2549 | |
| 2550 | b_kstr = obj->JointInternal.NameInternal->size[0] * |
| 2551 | obj->JointInternal.NameInternal->size[1]; |
| 2552 | obj->JointInternal.NameInternal->size[0] = 1; |
| 2553 | obj->JointInternal.NameInternal->size[1] = 11; |
| 2554 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.NameInternal, b_kstr, |
| 2555 | localB); |
| 2556 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 2557 | obj->JointInternal.NameInternal->data[b_kstr] = tmp_4[b_kstr]; |
| 2558 | } |
| 2559 | |
| 2560 | b_kstr = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1]; |
| 2561 | obj->JointInternal.Type->size[0] = 1; |
| 2562 | obj->JointInternal.Type->size[1] = 8; |
| 2563 | cartes_emxEnsureCapacity_char_T(obj->JointInternal.Type, b_kstr, localB); |
| 2564 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 2565 | obj->JointInternal.Type->data[b_kstr] = tmp_5[b_kstr]; |
| 2566 | } |
| 2567 | |
| 2568 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 2569 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 2570 | switch_expression->size[0] = 1; |
| 2571 | switch_expression->size[1] = obj->JointInternal.Type->size[1]; |
| 2572 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 2573 | loop_ub = obj->JointInternal.Type->size[0] * obj->JointInternal.Type->size[1] |
| 2574 | - 1; |
| 2575 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 2576 | switch_expression->data[b_kstr] = obj->JointInternal.Type->data[b_kstr]; |
| 2577 | } |
| 2578 | |
| 2579 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 2580 | b[b_kstr] = tmp_5[b_kstr]; |
| 2581 | } |
| 2582 | |
| 2583 | b_bool = false; |
| 2584 | if (switch_expression->size[1] == 8) { |
| 2585 | b_kstr = 1; |
| 2586 | do { |
| 2587 | exitg1 = 0; |
| 2588 | if (b_kstr - 1 < 8) { |
| 2589 | loop_ub = b_kstr - 1; |
| 2590 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 2591 | exitg1 = 1; |
| 2592 | } else { |
| 2593 | b_kstr++; |
| 2594 | } |
| 2595 | } else { |
| 2596 | b_bool = true; |
| 2597 | exitg1 = 1; |
| 2598 | } |
| 2599 | } while (exitg1 == 0); |
| 2600 | } |
| 2601 | |
| 2602 | if (b_bool) { |
| 2603 | b_kstr = 0; |
| 2604 | } else { |
| 2605 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2606 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 2607 | } |
| 2608 | |
| 2609 | b_bool = false; |
| 2610 | if (switch_expression->size[1] == 9) { |
| 2611 | b_kstr = 1; |
| 2612 | do { |
| 2613 | exitg1 = 0; |
| 2614 | if (b_kstr - 1 < 9) { |
| 2615 | loop_ub = b_kstr - 1; |
| 2616 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 2617 | exitg1 = 1; |
| 2618 | } else { |
| 2619 | b_kstr++; |
| 2620 | } |
| 2621 | } else { |
| 2622 | b_bool = true; |
| 2623 | exitg1 = 1; |
| 2624 | } |
| 2625 | } while (exitg1 == 0); |
| 2626 | } |
| 2627 | |
| 2628 | if (b_bool) { |
| 2629 | b_kstr = 1; |
| 2630 | } else { |
| 2631 | b_kstr = -1; |
| 2632 | } |
| 2633 | } |
| 2634 | |
| 2635 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 2636 | switch (b_kstr) { |
| 2637 | case 0: |
| 2638 | tmp[0] = 0; |
| 2639 | tmp[1] = 0; |
| 2640 | tmp[2] = 1; |
| 2641 | tmp[3] = 0; |
| 2642 | tmp[4] = 0; |
| 2643 | tmp[5] = 0; |
| 2644 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2645 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2646 | } |
| 2647 | |
| 2648 | poslim_data[0] = -3.1415926535897931; |
| 2649 | poslim_data[1] = 3.1415926535897931; |
| 2650 | obj->JointInternal.VelocityNumber = 1.0; |
| 2651 | obj->JointInternal.PositionNumber = 1.0; |
| 2652 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2653 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2654 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2655 | break; |
| 2656 | |
| 2657 | case 1: |
| 2658 | tmp[0] = 0; |
| 2659 | tmp[1] = 0; |
| 2660 | tmp[2] = 0; |
| 2661 | tmp[3] = 0; |
| 2662 | tmp[4] = 0; |
| 2663 | tmp[5] = 1; |
| 2664 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2665 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2666 | } |
| 2667 | |
| 2668 | poslim_data[0] = -0.5; |
| 2669 | poslim_data[1] = 0.5; |
| 2670 | obj->JointInternal.VelocityNumber = 1.0; |
| 2671 | obj->JointInternal.PositionNumber = 1.0; |
| 2672 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2673 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2674 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2675 | break; |
| 2676 | |
| 2677 | default: |
| 2678 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2679 | msubspace_data[b_kstr] = 0; |
| 2680 | } |
| 2681 | |
| 2682 | poslim_data[0] = 0.0; |
| 2683 | poslim_data[1] = 0.0; |
| 2684 | obj->JointInternal.VelocityNumber = 0.0; |
| 2685 | obj->JointInternal.PositionNumber = 0.0; |
| 2686 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2687 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2688 | obj->JointInternal.JointAxisInternal[2] = 0.0; |
| 2689 | break; |
| 2690 | } |
| 2691 | |
| 2692 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2693 | obj->JointInternal.MotionSubspace->size[1]; |
| 2694 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2695 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2696 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2697 | localB); |
| 2698 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2699 | obj->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 2700 | } |
| 2701 | |
| 2702 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2703 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2704 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2705 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2706 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2707 | b_kstr, localB); |
| 2708 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 2709 | obj->JointInternal.PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 2710 | } |
| 2711 | |
| 2712 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2713 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2714 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2715 | b_kstr, localB); |
| 2716 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 2717 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2718 | } |
| 2719 | |
| 2720 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2721 | obj->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 2722 | } |
| 2723 | |
| 2724 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2725 | obj->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 2726 | } |
| 2727 | |
| 2728 | b_kstr = obj->JointInternal.MotionSubspace->size[0] * |
| 2729 | obj->JointInternal.MotionSubspace->size[1]; |
| 2730 | obj->JointInternal.MotionSubspace->size[0] = 6; |
| 2731 | obj->JointInternal.MotionSubspace->size[1] = 1; |
| 2732 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.MotionSubspace, b_kstr, |
| 2733 | localB); |
| 2734 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2735 | obj->JointInternal.MotionSubspace->data[b_kstr] = tmp_9[b_kstr]; |
| 2736 | } |
| 2737 | |
| 2738 | obj->JointInternal.InTree = true; |
| 2739 | b_kstr = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 2740 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 2741 | obj->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 2742 | obj->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 2743 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.PositionLimitsInternal, |
| 2744 | b_kstr, localB); |
| 2745 | obj->JointInternal.PositionLimitsInternal->data[0] = -4.71238898038; |
| 2746 | obj->JointInternal.PositionLimitsInternal->data |
| 2747 | [obj->JointInternal.PositionLimitsInternal->size[0]] = 4.71238898038; |
| 2748 | obj->JointInternal.JointAxisInternal[0] = 0.0; |
| 2749 | obj->JointInternal.JointAxisInternal[1] = 0.0; |
| 2750 | obj->JointInternal.JointAxisInternal[2] = 1.0; |
| 2751 | b_kstr = obj->JointInternal.HomePositionInternal->size[0]; |
| 2752 | obj->JointInternal.HomePositionInternal->size[0] = 1; |
| 2753 | cartes_emxEnsureCapacity_real_T(obj->JointInternal.HomePositionInternal, |
| 2754 | b_kstr, localB); |
| 2755 | obj->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 2756 | return b_obj; |
| 2757 | } |
| 2758 | |
| 2759 | static y_robotics_manip_internal_Rig_T *car_RigidBodyTree_RigidBodyTree |
| 2760 | (y_robotics_manip_internal_Rig_T *obj, v_robotics_manip_internal_Rig_T *iobj_0, |
| 2761 | v_robotics_manip_internal_Rig_T *iobj_1, v_robotics_manip_internal_Rig_T |
| 2762 | *iobj_2, v_robotics_manip_internal_Rig_T *iobj_3, |
| 2763 | v_robotics_manip_internal_Rig_T *iobj_4, v_robotics_manip_internal_Rig_T |
| 2764 | *iobj_5, v_robotics_manip_internal_Rig_T *iobj_6, |
| 2765 | v_robotics_manip_internal_Rig_T *iobj_7, B_MATLABSystem_cartesian_traj_T |
| 2766 | *localB) |
| 2767 | { |
| 2768 | y_robotics_manip_internal_Rig_T *b_obj; |
| 2769 | v_robotics_manip_internal_Rig_T *obj_0; |
| 2770 | int8_T msubspace_data[36]; |
| 2771 | real_T poslim_data[12]; |
| 2772 | int8_T b_I[9]; |
| 2773 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 2774 | boolean_T b_bool; |
| 2775 | int32_T b_kstr; |
| 2776 | char_T b[8]; |
| 2777 | char_T b_0[9]; |
| 2778 | int32_T loop_ub; |
| 2779 | int8_T tmp[6]; |
| 2780 | static const char_T tmp_0[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 2781 | 'e', 'e' }; |
| 2782 | |
| 2783 | static const real_T tmp_1[36] = { 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, |
| 2784 | 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, |
| 2785 | -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0 }; |
| 2786 | |
| 2787 | static const int8_T tmp_2[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 2788 | 1 }; |
| 2789 | |
| 2790 | static const char_T tmp_3[12] = { 'e', 'd', 'o', '_', 'j', 'o', 'i', 'n', 't', |
| 2791 | '_', 'e', 'e' }; |
| 2792 | |
| 2793 | static const char_T tmp_4[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 2794 | |
| 2795 | static const char_T tmp_5[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 2796 | |
| 2797 | static const char_T tmp_6[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 2798 | |
| 2799 | static const real_T tmp_7[16] = { 1.0, 0.0, -0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2800 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 2801 | |
| 2802 | static const real_T tmp_8[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, |
| 2803 | 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0 }; |
| 2804 | |
| 2805 | static const char_T tmp_9[5] = { 'w', 'o', 'r', 'l', 'd' }; |
| 2806 | |
| 2807 | static const char_T tmp_a[9] = { 'w', 'o', 'r', 'l', 'd', '_', 'j', 'n', 't' }; |
| 2808 | |
| 2809 | int32_T exitg1; |
| 2810 | b_obj = obj; |
| 2811 | obj->Bodies[0] = cartesian_t_RigidBody_RigidBody(iobj_7, localB); |
| 2812 | obj->Bodies[0]->Index = 1.0; |
| 2813 | obj->Bodies[1] = cartesian_RigidBody_RigidBody_b(iobj_0, localB); |
| 2814 | obj->Bodies[1]->Index = 2.0; |
| 2815 | obj->Bodies[2] = cartesia_RigidBody_RigidBody_by(iobj_1, localB); |
| 2816 | obj->Bodies[2]->Index = 3.0; |
| 2817 | obj->Bodies[3] = cartesi_RigidBody_RigidBody_bya(iobj_2, localB); |
| 2818 | obj->Bodies[3]->Index = 4.0; |
| 2819 | obj->Bodies[4] = cartes_RigidBody_RigidBody_byap(iobj_3, localB); |
| 2820 | obj->Bodies[4]->Index = 5.0; |
| 2821 | obj->Bodies[5] = carte_RigidBody_RigidBody_byapf(iobj_4, localB); |
| 2822 | obj->Bodies[5]->Index = 6.0; |
| 2823 | obj->Bodies[6] = cart_RigidBody_RigidBody_byapfa(iobj_5, localB); |
| 2824 | obj->Bodies[6]->Index = 7.0; |
| 2825 | b_kstr = iobj_6->NameInternal->size[0] * iobj_6->NameInternal->size[1]; |
| 2826 | iobj_6->NameInternal->size[0] = 1; |
| 2827 | iobj_6->NameInternal->size[1] = 11; |
| 2828 | cartes_emxEnsureCapacity_char_T(iobj_6->NameInternal, b_kstr, localB); |
| 2829 | for (b_kstr = 0; b_kstr < 11; b_kstr++) { |
| 2830 | iobj_6->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 2831 | } |
| 2832 | |
| 2833 | iobj_6->ParentIndex = 7.0; |
| 2834 | iobj_6->MassInternal = 0.0; |
| 2835 | iobj_6->CenterOfMassInternal[0] = 0.0; |
| 2836 | iobj_6->CenterOfMassInternal[1] = 0.0; |
| 2837 | iobj_6->CenterOfMassInternal[2] = 0.0; |
| 2838 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2839 | iobj_6->InertiaInternal[b_kstr] = 0.0; |
| 2840 | } |
| 2841 | |
| 2842 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 2843 | iobj_6->SpatialInertia[b_kstr] = tmp_1[b_kstr]; |
| 2844 | } |
| 2845 | |
| 2846 | iobj_6->JointInternal.InTree = false; |
| 2847 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2848 | iobj_6->JointInternal.JointToParentTransform[b_kstr] = tmp_2[b_kstr]; |
| 2849 | } |
| 2850 | |
| 2851 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 2852 | iobj_6->JointInternal.ChildToJointTransform[b_kstr] = tmp_2[b_kstr]; |
| 2853 | } |
| 2854 | |
| 2855 | b_kstr = iobj_6->JointInternal.NameInternal->size[0] * |
| 2856 | iobj_6->JointInternal.NameInternal->size[1]; |
| 2857 | iobj_6->JointInternal.NameInternal->size[0] = 1; |
| 2858 | iobj_6->JointInternal.NameInternal->size[1] = 12; |
| 2859 | cartes_emxEnsureCapacity_char_T(iobj_6->JointInternal.NameInternal, b_kstr, |
| 2860 | localB); |
| 2861 | for (b_kstr = 0; b_kstr < 12; b_kstr++) { |
| 2862 | iobj_6->JointInternal.NameInternal->data[b_kstr] = tmp_3[b_kstr]; |
| 2863 | } |
| 2864 | |
| 2865 | b_kstr = iobj_6->JointInternal.Type->size[0] * iobj_6-> |
| 2866 | JointInternal.Type->size[1]; |
| 2867 | iobj_6->JointInternal.Type->size[0] = 1; |
| 2868 | iobj_6->JointInternal.Type->size[1] = 5; |
| 2869 | cartes_emxEnsureCapacity_char_T(iobj_6->JointInternal.Type, b_kstr, localB); |
| 2870 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 2871 | iobj_6->JointInternal.Type->data[b_kstr] = tmp_4[b_kstr]; |
| 2872 | } |
| 2873 | |
| 2874 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 2875 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 2876 | switch_expression->size[0] = 1; |
| 2877 | switch_expression->size[1] = iobj_6->JointInternal.Type->size[1]; |
| 2878 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 2879 | loop_ub = iobj_6->JointInternal.Type->size[0] * iobj_6-> |
| 2880 | JointInternal.Type->size[1] - 1; |
| 2881 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 2882 | switch_expression->data[b_kstr] = iobj_6->JointInternal.Type->data[b_kstr]; |
| 2883 | } |
| 2884 | |
| 2885 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 2886 | b[b_kstr] = tmp_5[b_kstr]; |
| 2887 | } |
| 2888 | |
| 2889 | b_bool = false; |
| 2890 | if (switch_expression->size[1] == 8) { |
| 2891 | b_kstr = 1; |
| 2892 | do { |
| 2893 | exitg1 = 0; |
| 2894 | if (b_kstr - 1 < 8) { |
| 2895 | loop_ub = b_kstr - 1; |
| 2896 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 2897 | exitg1 = 1; |
| 2898 | } else { |
| 2899 | b_kstr++; |
| 2900 | } |
| 2901 | } else { |
| 2902 | b_bool = true; |
| 2903 | exitg1 = 1; |
| 2904 | } |
| 2905 | } while (exitg1 == 0); |
| 2906 | } |
| 2907 | |
| 2908 | if (b_bool) { |
| 2909 | b_kstr = 0; |
| 2910 | } else { |
| 2911 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 2912 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 2913 | } |
| 2914 | |
| 2915 | b_bool = false; |
| 2916 | if (switch_expression->size[1] == 9) { |
| 2917 | b_kstr = 1; |
| 2918 | do { |
| 2919 | exitg1 = 0; |
| 2920 | if (b_kstr - 1 < 9) { |
| 2921 | loop_ub = b_kstr - 1; |
| 2922 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 2923 | exitg1 = 1; |
| 2924 | } else { |
| 2925 | b_kstr++; |
| 2926 | } |
| 2927 | } else { |
| 2928 | b_bool = true; |
| 2929 | exitg1 = 1; |
| 2930 | } |
| 2931 | } while (exitg1 == 0); |
| 2932 | } |
| 2933 | |
| 2934 | if (b_bool) { |
| 2935 | b_kstr = 1; |
| 2936 | } else { |
| 2937 | b_kstr = -1; |
| 2938 | } |
| 2939 | } |
| 2940 | |
| 2941 | switch (b_kstr) { |
| 2942 | case 0: |
| 2943 | tmp[0] = 0; |
| 2944 | tmp[1] = 0; |
| 2945 | tmp[2] = 1; |
| 2946 | tmp[3] = 0; |
| 2947 | tmp[4] = 0; |
| 2948 | tmp[5] = 0; |
| 2949 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2950 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2951 | } |
| 2952 | |
| 2953 | poslim_data[0] = -3.1415926535897931; |
| 2954 | poslim_data[1] = 3.1415926535897931; |
| 2955 | iobj_6->JointInternal.VelocityNumber = 1.0; |
| 2956 | iobj_6->JointInternal.PositionNumber = 1.0; |
| 2957 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 2958 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 2959 | iobj_6->JointInternal.JointAxisInternal[2] = 1.0; |
| 2960 | break; |
| 2961 | |
| 2962 | case 1: |
| 2963 | tmp[0] = 0; |
| 2964 | tmp[1] = 0; |
| 2965 | tmp[2] = 0; |
| 2966 | tmp[3] = 0; |
| 2967 | tmp[4] = 0; |
| 2968 | tmp[5] = 1; |
| 2969 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2970 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 2971 | } |
| 2972 | |
| 2973 | poslim_data[0] = -0.5; |
| 2974 | poslim_data[1] = 0.5; |
| 2975 | iobj_6->JointInternal.VelocityNumber = 1.0; |
| 2976 | iobj_6->JointInternal.PositionNumber = 1.0; |
| 2977 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 2978 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 2979 | iobj_6->JointInternal.JointAxisInternal[2] = 1.0; |
| 2980 | break; |
| 2981 | |
| 2982 | default: |
| 2983 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 2984 | msubspace_data[b_kstr] = 0; |
| 2985 | } |
| 2986 | |
| 2987 | poslim_data[0] = 0.0; |
| 2988 | poslim_data[1] = 0.0; |
| 2989 | iobj_6->JointInternal.VelocityNumber = 0.0; |
| 2990 | iobj_6->JointInternal.PositionNumber = 0.0; |
| 2991 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 2992 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 2993 | iobj_6->JointInternal.JointAxisInternal[2] = 0.0; |
| 2994 | break; |
| 2995 | } |
| 2996 | |
| 2997 | b_kstr = iobj_6->JointInternal.MotionSubspace->size[0] * |
| 2998 | iobj_6->JointInternal.MotionSubspace->size[1]; |
| 2999 | iobj_6->JointInternal.MotionSubspace->size[0] = 6; |
| 3000 | iobj_6->JointInternal.MotionSubspace->size[1] = 1; |
| 3001 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.MotionSubspace, b_kstr, |
| 3002 | localB); |
| 3003 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3004 | iobj_6->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 3005 | } |
| 3006 | |
| 3007 | b_kstr = iobj_6->JointInternal.PositionLimitsInternal->size[0] * |
| 3008 | iobj_6->JointInternal.PositionLimitsInternal->size[1]; |
| 3009 | iobj_6->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 3010 | iobj_6->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 3011 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.PositionLimitsInternal, |
| 3012 | b_kstr, localB); |
| 3013 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 3014 | iobj_6->JointInternal.PositionLimitsInternal->data[b_kstr] = |
| 3015 | poslim_data[b_kstr]; |
| 3016 | } |
| 3017 | |
| 3018 | b_kstr = iobj_6->JointInternal.HomePositionInternal->size[0]; |
| 3019 | iobj_6->JointInternal.HomePositionInternal->size[0] = 1; |
| 3020 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.HomePositionInternal, |
| 3021 | b_kstr, localB); |
| 3022 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 3023 | iobj_6->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 3024 | } |
| 3025 | |
| 3026 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3027 | iobj_6->JointInternal.JointToParentTransform[b_kstr] = tmp_7[b_kstr]; |
| 3028 | } |
| 3029 | |
| 3030 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3031 | iobj_6->JointInternal.ChildToJointTransform[b_kstr] = tmp_8[b_kstr]; |
| 3032 | } |
| 3033 | |
| 3034 | b_kstr = iobj_6->JointInternal.MotionSubspace->size[0] * |
| 3035 | iobj_6->JointInternal.MotionSubspace->size[1]; |
| 3036 | iobj_6->JointInternal.MotionSubspace->size[0] = 6; |
| 3037 | iobj_6->JointInternal.MotionSubspace->size[1] = 1; |
| 3038 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.MotionSubspace, b_kstr, |
| 3039 | localB); |
| 3040 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3041 | iobj_6->JointInternal.MotionSubspace->data[b_kstr] = 0.0; |
| 3042 | } |
| 3043 | |
| 3044 | iobj_6->JointInternal.InTree = true; |
| 3045 | b_kstr = iobj_6->JointInternal.PositionLimitsInternal->size[0] * |
| 3046 | iobj_6->JointInternal.PositionLimitsInternal->size[1]; |
| 3047 | iobj_6->JointInternal.PositionLimitsInternal->size[0] = 1; |
| 3048 | iobj_6->JointInternal.PositionLimitsInternal->size[1] = 2; |
| 3049 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.PositionLimitsInternal, |
| 3050 | b_kstr, localB); |
| 3051 | iobj_6->JointInternal.PositionLimitsInternal->data[0] = 0.0; |
| 3052 | iobj_6->JointInternal.PositionLimitsInternal->data |
| 3053 | [iobj_6->JointInternal.PositionLimitsInternal->size[0]] = 0.0; |
| 3054 | iobj_6->JointInternal.JointAxisInternal[0] = 0.0; |
| 3055 | iobj_6->JointInternal.JointAxisInternal[1] = 0.0; |
| 3056 | iobj_6->JointInternal.JointAxisInternal[2] = 0.0; |
| 3057 | b_kstr = iobj_6->JointInternal.HomePositionInternal->size[0]; |
| 3058 | iobj_6->JointInternal.HomePositionInternal->size[0] = 1; |
| 3059 | cartes_emxEnsureCapacity_real_T(iobj_6->JointInternal.HomePositionInternal, |
| 3060 | b_kstr, localB); |
| 3061 | iobj_6->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 3062 | obj->Bodies[7] = iobj_6; |
| 3063 | obj->Bodies[7]->Index = 8.0; |
| 3064 | obj->NumBodies = 8.0; |
| 3065 | obj->Gravity[0] = 0.0; |
| 3066 | obj->Gravity[1] = 0.0; |
| 3067 | obj->Gravity[2] = 0.0; |
| 3068 | obj_0 = &obj->Base; |
| 3069 | b_kstr = obj->Base.NameInternal->size[0] * obj->Base.NameInternal->size[1]; |
| 3070 | obj->Base.NameInternal->size[0] = 1; |
| 3071 | obj->Base.NameInternal->size[1] = 5; |
| 3072 | cartes_emxEnsureCapacity_char_T(obj->Base.NameInternal, b_kstr, localB); |
| 3073 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 3074 | obj->Base.NameInternal->data[b_kstr] = tmp_9[b_kstr]; |
| 3075 | } |
| 3076 | |
| 3077 | obj->Base.JointInternal.InTree = false; |
| 3078 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3079 | obj_0->JointInternal.JointToParentTransform[b_kstr] = tmp_2[b_kstr]; |
| 3080 | } |
| 3081 | |
| 3082 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3083 | obj_0->JointInternal.ChildToJointTransform[b_kstr] = tmp_2[b_kstr]; |
| 3084 | } |
| 3085 | |
| 3086 | b_kstr = obj->Base.JointInternal.NameInternal->size[0] * |
| 3087 | obj->Base.JointInternal.NameInternal->size[1]; |
| 3088 | obj->Base.JointInternal.NameInternal->size[0] = 1; |
| 3089 | obj->Base.JointInternal.NameInternal->size[1] = 9; |
| 3090 | cartes_emxEnsureCapacity_char_T(obj->Base.JointInternal.NameInternal, b_kstr, |
| 3091 | localB); |
| 3092 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3093 | obj_0->JointInternal.NameInternal->data[b_kstr] = tmp_a[b_kstr]; |
| 3094 | } |
| 3095 | |
| 3096 | b_kstr = obj->Base.JointInternal.Type->size[0] * obj-> |
| 3097 | Base.JointInternal.Type->size[1]; |
| 3098 | obj->Base.JointInternal.Type->size[0] = 1; |
| 3099 | obj->Base.JointInternal.Type->size[1] = 5; |
| 3100 | cartes_emxEnsureCapacity_char_T(obj->Base.JointInternal.Type, b_kstr, localB); |
| 3101 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 3102 | obj_0->JointInternal.Type->data[b_kstr] = tmp_4[b_kstr]; |
| 3103 | } |
| 3104 | |
| 3105 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 3106 | switch_expression->size[0] = 1; |
| 3107 | switch_expression->size[1] = obj->Base.JointInternal.Type->size[1]; |
| 3108 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 3109 | loop_ub = obj->Base.JointInternal.Type->size[0] * obj-> |
| 3110 | Base.JointInternal.Type->size[1] - 1; |
| 3111 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 3112 | switch_expression->data[b_kstr] = obj_0->JointInternal.Type->data[b_kstr]; |
| 3113 | } |
| 3114 | |
| 3115 | b_bool = false; |
| 3116 | if (switch_expression->size[1] == 8) { |
| 3117 | b_kstr = 1; |
| 3118 | do { |
| 3119 | exitg1 = 0; |
| 3120 | if (b_kstr - 1 < 8) { |
| 3121 | loop_ub = b_kstr - 1; |
| 3122 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 3123 | exitg1 = 1; |
| 3124 | } else { |
| 3125 | b_kstr++; |
| 3126 | } |
| 3127 | } else { |
| 3128 | b_bool = true; |
| 3129 | exitg1 = 1; |
| 3130 | } |
| 3131 | } while (exitg1 == 0); |
| 3132 | } |
| 3133 | |
| 3134 | if (b_bool) { |
| 3135 | b_kstr = 0; |
| 3136 | } else { |
| 3137 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3138 | b_0[b_kstr] = tmp_6[b_kstr]; |
| 3139 | } |
| 3140 | |
| 3141 | b_bool = false; |
| 3142 | if (switch_expression->size[1] == 9) { |
| 3143 | b_kstr = 1; |
| 3144 | do { |
| 3145 | exitg1 = 0; |
| 3146 | if (b_kstr - 1 < 9) { |
| 3147 | loop_ub = b_kstr - 1; |
| 3148 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 3149 | exitg1 = 1; |
| 3150 | } else { |
| 3151 | b_kstr++; |
| 3152 | } |
| 3153 | } else { |
| 3154 | b_bool = true; |
| 3155 | exitg1 = 1; |
| 3156 | } |
| 3157 | } while (exitg1 == 0); |
| 3158 | } |
| 3159 | |
| 3160 | if (b_bool) { |
| 3161 | b_kstr = 1; |
| 3162 | } else { |
| 3163 | b_kstr = -1; |
| 3164 | } |
| 3165 | } |
| 3166 | |
| 3167 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 3168 | switch (b_kstr) { |
| 3169 | case 0: |
| 3170 | tmp[0] = 0; |
| 3171 | tmp[1] = 0; |
| 3172 | tmp[2] = 1; |
| 3173 | tmp[3] = 0; |
| 3174 | tmp[4] = 0; |
| 3175 | tmp[5] = 0; |
| 3176 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3177 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3178 | } |
| 3179 | |
| 3180 | poslim_data[0] = -3.1415926535897931; |
| 3181 | poslim_data[1] = 3.1415926535897931; |
| 3182 | obj->Base.JointInternal.VelocityNumber = 1.0; |
| 3183 | obj->Base.JointInternal.PositionNumber = 1.0; |
| 3184 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 3185 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 3186 | obj->Base.JointInternal.JointAxisInternal[2] = 1.0; |
| 3187 | break; |
| 3188 | |
| 3189 | case 1: |
| 3190 | tmp[0] = 0; |
| 3191 | tmp[1] = 0; |
| 3192 | tmp[2] = 0; |
| 3193 | tmp[3] = 0; |
| 3194 | tmp[4] = 0; |
| 3195 | tmp[5] = 1; |
| 3196 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3197 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3198 | } |
| 3199 | |
| 3200 | poslim_data[0] = -0.5; |
| 3201 | poslim_data[1] = 0.5; |
| 3202 | obj->Base.JointInternal.VelocityNumber = 1.0; |
| 3203 | obj->Base.JointInternal.PositionNumber = 1.0; |
| 3204 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 3205 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 3206 | obj->Base.JointInternal.JointAxisInternal[2] = 1.0; |
| 3207 | break; |
| 3208 | |
| 3209 | default: |
| 3210 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3211 | msubspace_data[b_kstr] = 0; |
| 3212 | } |
| 3213 | |
| 3214 | poslim_data[0] = 0.0; |
| 3215 | poslim_data[1] = 0.0; |
| 3216 | obj->Base.JointInternal.VelocityNumber = 0.0; |
| 3217 | obj->Base.JointInternal.PositionNumber = 0.0; |
| 3218 | obj->Base.JointInternal.JointAxisInternal[0] = 0.0; |
| 3219 | obj->Base.JointInternal.JointAxisInternal[1] = 0.0; |
| 3220 | obj->Base.JointInternal.JointAxisInternal[2] = 0.0; |
| 3221 | break; |
| 3222 | } |
| 3223 | |
| 3224 | b_kstr = obj->Base.JointInternal.MotionSubspace->size[0] * |
| 3225 | obj->Base.JointInternal.MotionSubspace->size[1]; |
| 3226 | obj->Base.JointInternal.MotionSubspace->size[0] = 6; |
| 3227 | obj->Base.JointInternal.MotionSubspace->size[1] = 1; |
| 3228 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.MotionSubspace, b_kstr, |
| 3229 | localB); |
| 3230 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3231 | obj_0->JointInternal.MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 3232 | } |
| 3233 | |
| 3234 | b_kstr = obj->Base.JointInternal.PositionLimitsInternal->size[0] * |
| 3235 | obj->Base.JointInternal.PositionLimitsInternal->size[1]; |
| 3236 | obj->Base.JointInternal.PositionLimitsInternal->size[0] = 1; |
| 3237 | obj->Base.JointInternal.PositionLimitsInternal->size[1] = 2; |
| 3238 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.PositionLimitsInternal, |
| 3239 | b_kstr, localB); |
| 3240 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 3241 | obj_0->JointInternal.PositionLimitsInternal->data[b_kstr] = |
| 3242 | poslim_data[b_kstr]; |
| 3243 | } |
| 3244 | |
| 3245 | b_kstr = obj->Base.JointInternal.HomePositionInternal->size[0]; |
| 3246 | obj->Base.JointInternal.HomePositionInternal->size[0] = 1; |
| 3247 | cartes_emxEnsureCapacity_real_T(obj->Base.JointInternal.HomePositionInternal, |
| 3248 | b_kstr, localB); |
| 3249 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 3250 | obj_0->JointInternal.HomePositionInternal->data[0] = 0.0; |
| 3251 | } |
| 3252 | |
| 3253 | obj->Base.Index = -1.0; |
| 3254 | obj->Base.ParentIndex = -1.0; |
| 3255 | obj->Base.MassInternal = 1.0; |
| 3256 | obj->Base.CenterOfMassInternal[0] = 0.0; |
| 3257 | obj->Base.CenterOfMassInternal[1] = 0.0; |
| 3258 | obj->Base.CenterOfMassInternal[2] = 0.0; |
| 3259 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3260 | b_I[b_kstr] = 0; |
| 3261 | } |
| 3262 | |
| 3263 | b_I[0] = 1; |
| 3264 | b_I[4] = 1; |
| 3265 | b_I[8] = 1; |
| 3266 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3267 | obj->Base.InertiaInternal[b_kstr] = b_I[b_kstr]; |
| 3268 | } |
| 3269 | |
| 3270 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 3271 | msubspace_data[b_kstr] = 0; |
| 3272 | } |
| 3273 | |
| 3274 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3275 | msubspace_data[b_kstr + 6 * b_kstr] = 1; |
| 3276 | } |
| 3277 | |
| 3278 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 3279 | obj->Base.SpatialInertia[b_kstr] = msubspace_data[b_kstr]; |
| 3280 | } |
| 3281 | |
| 3282 | return b_obj; |
| 3283 | } |
| 3284 | |
| 3285 | static void cartesi_genrand_uint32_vector_d(uint32_T mt[625], uint32_T u[2], |
| 3286 | B_MATLABSystem_cartesian_traj_T *localB) |
| 3287 | { |
| 3288 | for (localB->b_j_i = 0; localB->b_j_i < 2; localB->b_j_i++) { |
| 3289 | localB->mti = mt[624] + 1U; |
| 3290 | if (localB->mti >= 625U) { |
| 3291 | for (localB->b_kk = 0; localB->b_kk < 227; localB->b_kk++) { |
| 3292 | localB->y_d = (mt[localB->b_kk + 1] & 2147483647U) | (mt[localB->b_kk] & |
| 3293 | 2147483648U); |
| 3294 | if ((localB->y_d & 1U) == 0U) { |
| 3295 | localB->y_d >>= 1U; |
| 3296 | } else { |
| 3297 | localB->y_d = localB->y_d >> 1U ^ 2567483615U; |
| 3298 | } |
| 3299 | |
| 3300 | mt[localB->b_kk] = mt[localB->b_kk + 397] ^ localB->y_d; |
| 3301 | } |
| 3302 | |
| 3303 | for (localB->b_kk = 0; localB->b_kk < 396; localB->b_kk++) { |
| 3304 | localB->y_d = (mt[localB->b_kk + 227] & 2147483648U) | (mt[localB->b_kk |
| 3305 | + 228] & 2147483647U); |
| 3306 | if ((localB->y_d & 1U) == 0U) { |
| 3307 | localB->y_d >>= 1U; |
| 3308 | } else { |
| 3309 | localB->y_d = localB->y_d >> 1U ^ 2567483615U; |
| 3310 | } |
| 3311 | |
| 3312 | mt[localB->b_kk + 227] = mt[localB->b_kk] ^ localB->y_d; |
| 3313 | } |
| 3314 | |
| 3315 | localB->y_d = (mt[623] & 2147483648U) | (mt[0] & 2147483647U); |
| 3316 | if ((localB->y_d & 1U) == 0U) { |
| 3317 | localB->y_d >>= 1U; |
| 3318 | } else { |
| 3319 | localB->y_d = localB->y_d >> 1U ^ 2567483615U; |
| 3320 | } |
| 3321 | |
| 3322 | mt[623] = mt[396] ^ localB->y_d; |
| 3323 | localB->mti = 1U; |
| 3324 | } |
| 3325 | |
| 3326 | localB->y_d = mt[static_cast<int32_T>(localB->mti) - 1]; |
| 3327 | mt[624] = localB->mti; |
| 3328 | localB->y_d ^= localB->y_d >> 11U; |
| 3329 | localB->y_d ^= localB->y_d << 7U & 2636928640U; |
| 3330 | localB->y_d ^= localB->y_d << 15U & 4022730752U; |
| 3331 | u[localB->b_j_i] = localB->y_d >> 18U ^ localB->y_d; |
| 3332 | } |
| 3333 | } |
| 3334 | |
| 3335 | static boolean_T cartesian_trajec_is_valid_state(const uint32_T mt[625], |
| 3336 | B_MATLABSystem_cartesian_traj_T *localB) |
| 3337 | { |
| 3338 | boolean_T isvalid; |
| 3339 | boolean_T exitg1; |
| 3340 | if ((mt[624] >= 1U) && (mt[624] < 625U)) { |
| 3341 | isvalid = true; |
| 3342 | } else { |
| 3343 | isvalid = false; |
| 3344 | } |
| 3345 | |
| 3346 | if (isvalid) { |
| 3347 | isvalid = false; |
| 3348 | localB->k_f = 0; |
| 3349 | exitg1 = false; |
| 3350 | while ((!exitg1) && (localB->k_f + 1 < 625)) { |
| 3351 | if (mt[localB->k_f] == 0U) { |
| 3352 | localB->k_f++; |
| 3353 | } else { |
| 3354 | isvalid = true; |
| 3355 | exitg1 = true; |
| 3356 | } |
| 3357 | } |
| 3358 | } |
| 3359 | |
| 3360 | return isvalid; |
| 3361 | } |
| 3362 | |
| 3363 | static void cartesian__eml_rand_mt19937ar_a(const uint32_T state[625], uint32_T |
| 3364 | b_state[625], real_T *r, B_MATLABSystem_cartesian_traj_T *localB) |
| 3365 | { |
| 3366 | int32_T exitg1; |
| 3367 | memcpy(&b_state[0], &state[0], 625U * sizeof(uint32_T)); |
| 3368 | |
| 3369 | // ========================= COPYRIGHT NOTICE ============================ |
| 3370 | // This is a uniform (0,1) pseudorandom number generator based on: |
| 3371 | // |
| 3372 | // A C-program for MT19937, with initialization improved 2002/1/26. |
| 3373 | // Coded by Takuji Nishimura and Makoto Matsumoto. |
| 3374 | // |
| 3375 | // Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, |
| 3376 | // All rights reserved. |
| 3377 | // |
| 3378 | // Redistribution and use in source and binary forms, with or without |
| 3379 | // modification, are permitted provided that the following conditions |
| 3380 | // are met: |
| 3381 | // |
| 3382 | // 1. Redistributions of source code must retain the above copyright |
| 3383 | // notice, this list of conditions and the following disclaimer. |
| 3384 | // |
| 3385 | // 2. Redistributions in binary form must reproduce the above copyright |
| 3386 | // notice, this list of conditions and the following disclaimer |
| 3387 | // in the documentation and/or other materials provided with the |
| 3388 | // distribution. |
| 3389 | // |
| 3390 | // 3. The names of its contributors may not be used to endorse or |
| 3391 | // promote products derived from this software without specific |
| 3392 | // prior written permission. |
| 3393 | // |
| 3394 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 3395 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 3396 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 3397 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 3398 | // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 3399 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 3400 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 3401 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 3402 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 3403 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 3404 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| 3405 | // |
| 3406 | // ============================= END ================================= |
| 3407 | do { |
| 3408 | exitg1 = 0; |
| 3409 | cartesi_genrand_uint32_vector_d(b_state, localB->b_u, localB); |
| 3410 | *r = (static_cast<real_T>(localB->b_u[0] >> 5U) * 6.7108864E+7 + |
| 3411 | static_cast<real_T>(localB->b_u[1] >> 6U)) * 1.1102230246251565E-16; |
| 3412 | if (*r == 0.0) { |
| 3413 | if (!cartesian_trajec_is_valid_state(b_state, localB)) { |
| 3414 | localB->r = 5489U; |
| 3415 | b_state[0] = 5489U; |
| 3416 | for (localB->b_mti = 0; localB->b_mti < 623; localB->b_mti++) { |
| 3417 | localB->r = ((localB->r >> 30U ^ localB->r) * 1812433253U + |
| 3418 | localB->b_mti) + 1U; |
| 3419 | b_state[localB->b_mti + 1] = localB->r; |
| 3420 | } |
| 3421 | |
| 3422 | b_state[624] = 624U; |
| 3423 | } |
| 3424 | } else { |
| 3425 | exitg1 = 1; |
| 3426 | } |
| 3427 | } while (exitg1 == 0); |
| 3428 | } |
| 3429 | |
| 3430 | static void cartesian_trajectory_plann_rand(real_T r[5], |
| 3431 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 3432 | *localDW) |
| 3433 | { |
| 3434 | for (localB->b_k_h = 0; localB->b_k_h < 5; localB->b_k_h++) { |
| 3435 | memcpy(&localB->uv[0], &localDW->state_e[0], 625U * sizeof(uint32_T)); |
| 3436 | cartesian__eml_rand_mt19937ar_a(localB->uv, localDW->state_e, &r |
| 3437 | [localB->b_k_h], localB); |
| 3438 | } |
| 3439 | } |
| 3440 | |
| 3441 | static w_robotics_manip_internal_Rig_T *car_RigidBody_RigidBody_byapfac |
| 3442 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 3443 | B_MATLABSystem_cartesian_traj_T *localB) |
| 3444 | { |
| 3445 | w_robotics_manip_internal_Rig_T *b_obj; |
| 3446 | int8_T msubspace_data[36]; |
| 3447 | real_T poslim_data[12]; |
| 3448 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 3449 | boolean_T b_bool; |
| 3450 | int32_T b_kstr; |
| 3451 | char_T b[8]; |
| 3452 | char_T b_0[9]; |
| 3453 | int32_T loop_ub; |
| 3454 | int8_T tmp[6]; |
| 3455 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3456 | '\x01' }; |
| 3457 | |
| 3458 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 3459 | 1 }; |
| 3460 | |
| 3461 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3462 | '\x01', '_', 'j', 'n', 't' }; |
| 3463 | |
| 3464 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 3465 | |
| 3466 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 3467 | |
| 3468 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 3469 | |
| 3470 | int32_T exitg1; |
| 3471 | b_obj = obj; |
| 3472 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 3473 | obj->NameInternal->size[0] = 1; |
| 3474 | obj->NameInternal->size[1] = 10; |
| 3475 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 3476 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 3477 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 3478 | } |
| 3479 | |
| 3480 | iobj_0->InTree = false; |
| 3481 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3482 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 3483 | } |
| 3484 | |
| 3485 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3486 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 3487 | } |
| 3488 | |
| 3489 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 3490 | iobj_0->NameInternal->size[0] = 1; |
| 3491 | iobj_0->NameInternal->size[1] = 14; |
| 3492 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr, localB); |
| 3493 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 3494 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 3495 | } |
| 3496 | |
| 3497 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 3498 | iobj_0->Type->size[0] = 1; |
| 3499 | iobj_0->Type->size[1] = 5; |
| 3500 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr, localB); |
| 3501 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 3502 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 3503 | } |
| 3504 | |
| 3505 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 3506 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 3507 | switch_expression->size[0] = 1; |
| 3508 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 3509 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 3510 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 3511 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 3512 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 3513 | } |
| 3514 | |
| 3515 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 3516 | b[b_kstr] = tmp_4[b_kstr]; |
| 3517 | } |
| 3518 | |
| 3519 | b_bool = false; |
| 3520 | if (switch_expression->size[1] == 8) { |
| 3521 | b_kstr = 1; |
| 3522 | do { |
| 3523 | exitg1 = 0; |
| 3524 | if (b_kstr - 1 < 8) { |
| 3525 | loop_ub = b_kstr - 1; |
| 3526 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 3527 | exitg1 = 1; |
| 3528 | } else { |
| 3529 | b_kstr++; |
| 3530 | } |
| 3531 | } else { |
| 3532 | b_bool = true; |
| 3533 | exitg1 = 1; |
| 3534 | } |
| 3535 | } while (exitg1 == 0); |
| 3536 | } |
| 3537 | |
| 3538 | if (b_bool) { |
| 3539 | b_kstr = 0; |
| 3540 | } else { |
| 3541 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3542 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 3543 | } |
| 3544 | |
| 3545 | b_bool = false; |
| 3546 | if (switch_expression->size[1] == 9) { |
| 3547 | b_kstr = 1; |
| 3548 | do { |
| 3549 | exitg1 = 0; |
| 3550 | if (b_kstr - 1 < 9) { |
| 3551 | loop_ub = b_kstr - 1; |
| 3552 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 3553 | exitg1 = 1; |
| 3554 | } else { |
| 3555 | b_kstr++; |
| 3556 | } |
| 3557 | } else { |
| 3558 | b_bool = true; |
| 3559 | exitg1 = 1; |
| 3560 | } |
| 3561 | } while (exitg1 == 0); |
| 3562 | } |
| 3563 | |
| 3564 | if (b_bool) { |
| 3565 | b_kstr = 1; |
| 3566 | } else { |
| 3567 | b_kstr = -1; |
| 3568 | } |
| 3569 | } |
| 3570 | |
| 3571 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 3572 | switch (b_kstr) { |
| 3573 | case 0: |
| 3574 | tmp[0] = 0; |
| 3575 | tmp[1] = 0; |
| 3576 | tmp[2] = 1; |
| 3577 | tmp[3] = 0; |
| 3578 | tmp[4] = 0; |
| 3579 | tmp[5] = 0; |
| 3580 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3581 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3582 | } |
| 3583 | |
| 3584 | poslim_data[0] = -3.1415926535897931; |
| 3585 | poslim_data[1] = 3.1415926535897931; |
| 3586 | iobj_0->VelocityNumber = 1.0; |
| 3587 | iobj_0->PositionNumber = 1.0; |
| 3588 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3589 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3590 | iobj_0->JointAxisInternal[2] = 1.0; |
| 3591 | break; |
| 3592 | |
| 3593 | case 1: |
| 3594 | tmp[0] = 0; |
| 3595 | tmp[1] = 0; |
| 3596 | tmp[2] = 0; |
| 3597 | tmp[3] = 0; |
| 3598 | tmp[4] = 0; |
| 3599 | tmp[5] = 1; |
| 3600 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3601 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3602 | } |
| 3603 | |
| 3604 | poslim_data[0] = -0.5; |
| 3605 | poslim_data[1] = 0.5; |
| 3606 | iobj_0->VelocityNumber = 1.0; |
| 3607 | iobj_0->PositionNumber = 1.0; |
| 3608 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3609 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3610 | iobj_0->JointAxisInternal[2] = 1.0; |
| 3611 | break; |
| 3612 | |
| 3613 | default: |
| 3614 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3615 | msubspace_data[b_kstr] = 0; |
| 3616 | } |
| 3617 | |
| 3618 | poslim_data[0] = 0.0; |
| 3619 | poslim_data[1] = 0.0; |
| 3620 | iobj_0->VelocityNumber = 0.0; |
| 3621 | iobj_0->PositionNumber = 0.0; |
| 3622 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3623 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3624 | iobj_0->JointAxisInternal[2] = 0.0; |
| 3625 | break; |
| 3626 | } |
| 3627 | |
| 3628 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 3629 | iobj_0->MotionSubspace->size[0] = 6; |
| 3630 | iobj_0->MotionSubspace->size[1] = 1; |
| 3631 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr, localB); |
| 3632 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3633 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 3634 | } |
| 3635 | |
| 3636 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 3637 | iobj_0->PositionLimitsInternal->size[1]; |
| 3638 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 3639 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 3640 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr, localB); |
| 3641 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 3642 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 3643 | } |
| 3644 | |
| 3645 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 3646 | iobj_0->HomePositionInternal->size[0] = 1; |
| 3647 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr, localB); |
| 3648 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 3649 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 3650 | } |
| 3651 | |
| 3652 | obj->JointInternal = iobj_0; |
| 3653 | obj->Index = -1.0; |
| 3654 | obj->ParentIndex = -1.0; |
| 3655 | return b_obj; |
| 3656 | } |
| 3657 | |
| 3658 | static w_robotics_manip_internal_Rig_T *ca_RigidBody_RigidBody_byapfac3 |
| 3659 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 3660 | B_MATLABSystem_cartesian_traj_T *localB) |
| 3661 | { |
| 3662 | w_robotics_manip_internal_Rig_T *b_obj; |
| 3663 | int8_T msubspace_data[36]; |
| 3664 | real_T poslim_data[12]; |
| 3665 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 3666 | boolean_T b_bool; |
| 3667 | int32_T b_kstr; |
| 3668 | char_T b[8]; |
| 3669 | char_T b_0[9]; |
| 3670 | int32_T loop_ub; |
| 3671 | int8_T tmp[6]; |
| 3672 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3673 | '\x02' }; |
| 3674 | |
| 3675 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 3676 | 1 }; |
| 3677 | |
| 3678 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3679 | '\x02', '_', 'j', 'n', 't' }; |
| 3680 | |
| 3681 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 3682 | |
| 3683 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 3684 | |
| 3685 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 3686 | |
| 3687 | int32_T exitg1; |
| 3688 | b_obj = obj; |
| 3689 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 3690 | obj->NameInternal->size[0] = 1; |
| 3691 | obj->NameInternal->size[1] = 10; |
| 3692 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 3693 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 3694 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 3695 | } |
| 3696 | |
| 3697 | iobj_0->InTree = false; |
| 3698 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3699 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 3700 | } |
| 3701 | |
| 3702 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3703 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 3704 | } |
| 3705 | |
| 3706 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 3707 | iobj_0->NameInternal->size[0] = 1; |
| 3708 | iobj_0->NameInternal->size[1] = 14; |
| 3709 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr, localB); |
| 3710 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 3711 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 3712 | } |
| 3713 | |
| 3714 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 3715 | iobj_0->Type->size[0] = 1; |
| 3716 | iobj_0->Type->size[1] = 5; |
| 3717 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr, localB); |
| 3718 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 3719 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 3720 | } |
| 3721 | |
| 3722 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 3723 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 3724 | switch_expression->size[0] = 1; |
| 3725 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 3726 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 3727 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 3728 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 3729 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 3730 | } |
| 3731 | |
| 3732 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 3733 | b[b_kstr] = tmp_4[b_kstr]; |
| 3734 | } |
| 3735 | |
| 3736 | b_bool = false; |
| 3737 | if (switch_expression->size[1] == 8) { |
| 3738 | b_kstr = 1; |
| 3739 | do { |
| 3740 | exitg1 = 0; |
| 3741 | if (b_kstr - 1 < 8) { |
| 3742 | loop_ub = b_kstr - 1; |
| 3743 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 3744 | exitg1 = 1; |
| 3745 | } else { |
| 3746 | b_kstr++; |
| 3747 | } |
| 3748 | } else { |
| 3749 | b_bool = true; |
| 3750 | exitg1 = 1; |
| 3751 | } |
| 3752 | } while (exitg1 == 0); |
| 3753 | } |
| 3754 | |
| 3755 | if (b_bool) { |
| 3756 | b_kstr = 0; |
| 3757 | } else { |
| 3758 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3759 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 3760 | } |
| 3761 | |
| 3762 | b_bool = false; |
| 3763 | if (switch_expression->size[1] == 9) { |
| 3764 | b_kstr = 1; |
| 3765 | do { |
| 3766 | exitg1 = 0; |
| 3767 | if (b_kstr - 1 < 9) { |
| 3768 | loop_ub = b_kstr - 1; |
| 3769 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 3770 | exitg1 = 1; |
| 3771 | } else { |
| 3772 | b_kstr++; |
| 3773 | } |
| 3774 | } else { |
| 3775 | b_bool = true; |
| 3776 | exitg1 = 1; |
| 3777 | } |
| 3778 | } while (exitg1 == 0); |
| 3779 | } |
| 3780 | |
| 3781 | if (b_bool) { |
| 3782 | b_kstr = 1; |
| 3783 | } else { |
| 3784 | b_kstr = -1; |
| 3785 | } |
| 3786 | } |
| 3787 | |
| 3788 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 3789 | switch (b_kstr) { |
| 3790 | case 0: |
| 3791 | tmp[0] = 0; |
| 3792 | tmp[1] = 0; |
| 3793 | tmp[2] = 1; |
| 3794 | tmp[3] = 0; |
| 3795 | tmp[4] = 0; |
| 3796 | tmp[5] = 0; |
| 3797 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3798 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3799 | } |
| 3800 | |
| 3801 | poslim_data[0] = -3.1415926535897931; |
| 3802 | poslim_data[1] = 3.1415926535897931; |
| 3803 | iobj_0->VelocityNumber = 1.0; |
| 3804 | iobj_0->PositionNumber = 1.0; |
| 3805 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3806 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3807 | iobj_0->JointAxisInternal[2] = 1.0; |
| 3808 | break; |
| 3809 | |
| 3810 | case 1: |
| 3811 | tmp[0] = 0; |
| 3812 | tmp[1] = 0; |
| 3813 | tmp[2] = 0; |
| 3814 | tmp[3] = 0; |
| 3815 | tmp[4] = 0; |
| 3816 | tmp[5] = 1; |
| 3817 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3818 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 3819 | } |
| 3820 | |
| 3821 | poslim_data[0] = -0.5; |
| 3822 | poslim_data[1] = 0.5; |
| 3823 | iobj_0->VelocityNumber = 1.0; |
| 3824 | iobj_0->PositionNumber = 1.0; |
| 3825 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3826 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3827 | iobj_0->JointAxisInternal[2] = 1.0; |
| 3828 | break; |
| 3829 | |
| 3830 | default: |
| 3831 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3832 | msubspace_data[b_kstr] = 0; |
| 3833 | } |
| 3834 | |
| 3835 | poslim_data[0] = 0.0; |
| 3836 | poslim_data[1] = 0.0; |
| 3837 | iobj_0->VelocityNumber = 0.0; |
| 3838 | iobj_0->PositionNumber = 0.0; |
| 3839 | iobj_0->JointAxisInternal[0] = 0.0; |
| 3840 | iobj_0->JointAxisInternal[1] = 0.0; |
| 3841 | iobj_0->JointAxisInternal[2] = 0.0; |
| 3842 | break; |
| 3843 | } |
| 3844 | |
| 3845 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 3846 | iobj_0->MotionSubspace->size[0] = 6; |
| 3847 | iobj_0->MotionSubspace->size[1] = 1; |
| 3848 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr, localB); |
| 3849 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 3850 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 3851 | } |
| 3852 | |
| 3853 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 3854 | iobj_0->PositionLimitsInternal->size[1]; |
| 3855 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 3856 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 3857 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr, localB); |
| 3858 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 3859 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 3860 | } |
| 3861 | |
| 3862 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 3863 | iobj_0->HomePositionInternal->size[0] = 1; |
| 3864 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr, localB); |
| 3865 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 3866 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 3867 | } |
| 3868 | |
| 3869 | obj->JointInternal = iobj_0; |
| 3870 | obj->Index = -1.0; |
| 3871 | obj->ParentIndex = -1.0; |
| 3872 | return b_obj; |
| 3873 | } |
| 3874 | |
| 3875 | static w_robotics_manip_internal_Rig_T *c_RigidBody_RigidBody_byapfac3i |
| 3876 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 3877 | B_MATLABSystem_cartesian_traj_T *localB) |
| 3878 | { |
| 3879 | w_robotics_manip_internal_Rig_T *b_obj; |
| 3880 | int8_T msubspace_data[36]; |
| 3881 | real_T poslim_data[12]; |
| 3882 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 3883 | boolean_T b_bool; |
| 3884 | int32_T b_kstr; |
| 3885 | char_T b[8]; |
| 3886 | char_T b_0[9]; |
| 3887 | int32_T loop_ub; |
| 3888 | int8_T tmp[6]; |
| 3889 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3890 | '\x03' }; |
| 3891 | |
| 3892 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 3893 | 1 }; |
| 3894 | |
| 3895 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 3896 | '\x03', '_', 'j', 'n', 't' }; |
| 3897 | |
| 3898 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 3899 | |
| 3900 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 3901 | |
| 3902 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 3903 | |
| 3904 | int32_T exitg1; |
| 3905 | b_obj = obj; |
| 3906 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 3907 | obj->NameInternal->size[0] = 1; |
| 3908 | obj->NameInternal->size[1] = 10; |
| 3909 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 3910 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 3911 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 3912 | } |
| 3913 | |
| 3914 | iobj_0->InTree = false; |
| 3915 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3916 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 3917 | } |
| 3918 | |
| 3919 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 3920 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 3921 | } |
| 3922 | |
| 3923 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 3924 | iobj_0->NameInternal->size[0] = 1; |
| 3925 | iobj_0->NameInternal->size[1] = 14; |
| 3926 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr, localB); |
| 3927 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 3928 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 3929 | } |
| 3930 | |
| 3931 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 3932 | iobj_0->Type->size[0] = 1; |
| 3933 | iobj_0->Type->size[1] = 5; |
| 3934 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr, localB); |
| 3935 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 3936 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 3937 | } |
| 3938 | |
| 3939 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 3940 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 3941 | switch_expression->size[0] = 1; |
| 3942 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 3943 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 3944 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 3945 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 3946 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 3947 | } |
| 3948 | |
| 3949 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 3950 | b[b_kstr] = tmp_4[b_kstr]; |
| 3951 | } |
| 3952 | |
| 3953 | b_bool = false; |
| 3954 | if (switch_expression->size[1] == 8) { |
| 3955 | b_kstr = 1; |
| 3956 | do { |
| 3957 | exitg1 = 0; |
| 3958 | if (b_kstr - 1 < 8) { |
| 3959 | loop_ub = b_kstr - 1; |
| 3960 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 3961 | exitg1 = 1; |
| 3962 | } else { |
| 3963 | b_kstr++; |
| 3964 | } |
| 3965 | } else { |
| 3966 | b_bool = true; |
| 3967 | exitg1 = 1; |
| 3968 | } |
| 3969 | } while (exitg1 == 0); |
| 3970 | } |
| 3971 | |
| 3972 | if (b_bool) { |
| 3973 | b_kstr = 0; |
| 3974 | } else { |
| 3975 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 3976 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 3977 | } |
| 3978 | |
| 3979 | b_bool = false; |
| 3980 | if (switch_expression->size[1] == 9) { |
| 3981 | b_kstr = 1; |
| 3982 | do { |
| 3983 | exitg1 = 0; |
| 3984 | if (b_kstr - 1 < 9) { |
| 3985 | loop_ub = b_kstr - 1; |
| 3986 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 3987 | exitg1 = 1; |
| 3988 | } else { |
| 3989 | b_kstr++; |
| 3990 | } |
| 3991 | } else { |
| 3992 | b_bool = true; |
| 3993 | exitg1 = 1; |
| 3994 | } |
| 3995 | } while (exitg1 == 0); |
| 3996 | } |
| 3997 | |
| 3998 | if (b_bool) { |
| 3999 | b_kstr = 1; |
| 4000 | } else { |
| 4001 | b_kstr = -1; |
| 4002 | } |
| 4003 | } |
| 4004 | |
| 4005 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 4006 | switch (b_kstr) { |
| 4007 | case 0: |
| 4008 | tmp[0] = 0; |
| 4009 | tmp[1] = 0; |
| 4010 | tmp[2] = 1; |
| 4011 | tmp[3] = 0; |
| 4012 | tmp[4] = 0; |
| 4013 | tmp[5] = 0; |
| 4014 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4015 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4016 | } |
| 4017 | |
| 4018 | poslim_data[0] = -3.1415926535897931; |
| 4019 | poslim_data[1] = 3.1415926535897931; |
| 4020 | iobj_0->VelocityNumber = 1.0; |
| 4021 | iobj_0->PositionNumber = 1.0; |
| 4022 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4023 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4024 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4025 | break; |
| 4026 | |
| 4027 | case 1: |
| 4028 | tmp[0] = 0; |
| 4029 | tmp[1] = 0; |
| 4030 | tmp[2] = 0; |
| 4031 | tmp[3] = 0; |
| 4032 | tmp[4] = 0; |
| 4033 | tmp[5] = 1; |
| 4034 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4035 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4036 | } |
| 4037 | |
| 4038 | poslim_data[0] = -0.5; |
| 4039 | poslim_data[1] = 0.5; |
| 4040 | iobj_0->VelocityNumber = 1.0; |
| 4041 | iobj_0->PositionNumber = 1.0; |
| 4042 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4043 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4044 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4045 | break; |
| 4046 | |
| 4047 | default: |
| 4048 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4049 | msubspace_data[b_kstr] = 0; |
| 4050 | } |
| 4051 | |
| 4052 | poslim_data[0] = 0.0; |
| 4053 | poslim_data[1] = 0.0; |
| 4054 | iobj_0->VelocityNumber = 0.0; |
| 4055 | iobj_0->PositionNumber = 0.0; |
| 4056 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4057 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4058 | iobj_0->JointAxisInternal[2] = 0.0; |
| 4059 | break; |
| 4060 | } |
| 4061 | |
| 4062 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 4063 | iobj_0->MotionSubspace->size[0] = 6; |
| 4064 | iobj_0->MotionSubspace->size[1] = 1; |
| 4065 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr, localB); |
| 4066 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4067 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 4068 | } |
| 4069 | |
| 4070 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 4071 | iobj_0->PositionLimitsInternal->size[1]; |
| 4072 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 4073 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 4074 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr, localB); |
| 4075 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 4076 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 4077 | } |
| 4078 | |
| 4079 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 4080 | iobj_0->HomePositionInternal->size[0] = 1; |
| 4081 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr, localB); |
| 4082 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 4083 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 4084 | } |
| 4085 | |
| 4086 | obj->JointInternal = iobj_0; |
| 4087 | obj->Index = -1.0; |
| 4088 | obj->ParentIndex = -1.0; |
| 4089 | return b_obj; |
| 4090 | } |
| 4091 | |
| 4092 | static w_robotics_manip_internal_Rig_T *RigidBody_RigidBody_byapfac3iu |
| 4093 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 4094 | B_MATLABSystem_cartesian_traj_T *localB) |
| 4095 | { |
| 4096 | w_robotics_manip_internal_Rig_T *b_obj; |
| 4097 | int8_T msubspace_data[36]; |
| 4098 | real_T poslim_data[12]; |
| 4099 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 4100 | boolean_T b_bool; |
| 4101 | int32_T b_kstr; |
| 4102 | char_T b[8]; |
| 4103 | char_T b_0[9]; |
| 4104 | int32_T loop_ub; |
| 4105 | int8_T tmp[6]; |
| 4106 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4107 | '\x04' }; |
| 4108 | |
| 4109 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 4110 | 1 }; |
| 4111 | |
| 4112 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4113 | '\x04', '_', 'j', 'n', 't' }; |
| 4114 | |
| 4115 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 4116 | |
| 4117 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 4118 | |
| 4119 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 4120 | |
| 4121 | int32_T exitg1; |
| 4122 | b_obj = obj; |
| 4123 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 4124 | obj->NameInternal->size[0] = 1; |
| 4125 | obj->NameInternal->size[1] = 10; |
| 4126 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 4127 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 4128 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 4129 | } |
| 4130 | |
| 4131 | iobj_0->InTree = false; |
| 4132 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 4133 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 4134 | } |
| 4135 | |
| 4136 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 4137 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 4138 | } |
| 4139 | |
| 4140 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 4141 | iobj_0->NameInternal->size[0] = 1; |
| 4142 | iobj_0->NameInternal->size[1] = 14; |
| 4143 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr, localB); |
| 4144 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 4145 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 4146 | } |
| 4147 | |
| 4148 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 4149 | iobj_0->Type->size[0] = 1; |
| 4150 | iobj_0->Type->size[1] = 5; |
| 4151 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr, localB); |
| 4152 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 4153 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 4154 | } |
| 4155 | |
| 4156 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 4157 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 4158 | switch_expression->size[0] = 1; |
| 4159 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 4160 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 4161 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 4162 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 4163 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 4164 | } |
| 4165 | |
| 4166 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 4167 | b[b_kstr] = tmp_4[b_kstr]; |
| 4168 | } |
| 4169 | |
| 4170 | b_bool = false; |
| 4171 | if (switch_expression->size[1] == 8) { |
| 4172 | b_kstr = 1; |
| 4173 | do { |
| 4174 | exitg1 = 0; |
| 4175 | if (b_kstr - 1 < 8) { |
| 4176 | loop_ub = b_kstr - 1; |
| 4177 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 4178 | exitg1 = 1; |
| 4179 | } else { |
| 4180 | b_kstr++; |
| 4181 | } |
| 4182 | } else { |
| 4183 | b_bool = true; |
| 4184 | exitg1 = 1; |
| 4185 | } |
| 4186 | } while (exitg1 == 0); |
| 4187 | } |
| 4188 | |
| 4189 | if (b_bool) { |
| 4190 | b_kstr = 0; |
| 4191 | } else { |
| 4192 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 4193 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 4194 | } |
| 4195 | |
| 4196 | b_bool = false; |
| 4197 | if (switch_expression->size[1] == 9) { |
| 4198 | b_kstr = 1; |
| 4199 | do { |
| 4200 | exitg1 = 0; |
| 4201 | if (b_kstr - 1 < 9) { |
| 4202 | loop_ub = b_kstr - 1; |
| 4203 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 4204 | exitg1 = 1; |
| 4205 | } else { |
| 4206 | b_kstr++; |
| 4207 | } |
| 4208 | } else { |
| 4209 | b_bool = true; |
| 4210 | exitg1 = 1; |
| 4211 | } |
| 4212 | } while (exitg1 == 0); |
| 4213 | } |
| 4214 | |
| 4215 | if (b_bool) { |
| 4216 | b_kstr = 1; |
| 4217 | } else { |
| 4218 | b_kstr = -1; |
| 4219 | } |
| 4220 | } |
| 4221 | |
| 4222 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 4223 | switch (b_kstr) { |
| 4224 | case 0: |
| 4225 | tmp[0] = 0; |
| 4226 | tmp[1] = 0; |
| 4227 | tmp[2] = 1; |
| 4228 | tmp[3] = 0; |
| 4229 | tmp[4] = 0; |
| 4230 | tmp[5] = 0; |
| 4231 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4232 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4233 | } |
| 4234 | |
| 4235 | poslim_data[0] = -3.1415926535897931; |
| 4236 | poslim_data[1] = 3.1415926535897931; |
| 4237 | iobj_0->VelocityNumber = 1.0; |
| 4238 | iobj_0->PositionNumber = 1.0; |
| 4239 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4240 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4241 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4242 | break; |
| 4243 | |
| 4244 | case 1: |
| 4245 | tmp[0] = 0; |
| 4246 | tmp[1] = 0; |
| 4247 | tmp[2] = 0; |
| 4248 | tmp[3] = 0; |
| 4249 | tmp[4] = 0; |
| 4250 | tmp[5] = 1; |
| 4251 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4252 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4253 | } |
| 4254 | |
| 4255 | poslim_data[0] = -0.5; |
| 4256 | poslim_data[1] = 0.5; |
| 4257 | iobj_0->VelocityNumber = 1.0; |
| 4258 | iobj_0->PositionNumber = 1.0; |
| 4259 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4260 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4261 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4262 | break; |
| 4263 | |
| 4264 | default: |
| 4265 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4266 | msubspace_data[b_kstr] = 0; |
| 4267 | } |
| 4268 | |
| 4269 | poslim_data[0] = 0.0; |
| 4270 | poslim_data[1] = 0.0; |
| 4271 | iobj_0->VelocityNumber = 0.0; |
| 4272 | iobj_0->PositionNumber = 0.0; |
| 4273 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4274 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4275 | iobj_0->JointAxisInternal[2] = 0.0; |
| 4276 | break; |
| 4277 | } |
| 4278 | |
| 4279 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 4280 | iobj_0->MotionSubspace->size[0] = 6; |
| 4281 | iobj_0->MotionSubspace->size[1] = 1; |
| 4282 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr, localB); |
| 4283 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4284 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 4285 | } |
| 4286 | |
| 4287 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 4288 | iobj_0->PositionLimitsInternal->size[1]; |
| 4289 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 4290 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 4291 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr, localB); |
| 4292 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 4293 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 4294 | } |
| 4295 | |
| 4296 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 4297 | iobj_0->HomePositionInternal->size[0] = 1; |
| 4298 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr, localB); |
| 4299 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 4300 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 4301 | } |
| 4302 | |
| 4303 | obj->JointInternal = iobj_0; |
| 4304 | obj->Index = -1.0; |
| 4305 | obj->ParentIndex = -1.0; |
| 4306 | return b_obj; |
| 4307 | } |
| 4308 | |
| 4309 | static w_robotics_manip_internal_Rig_T *RigidBody_RigidBody_byapfac3iu2 |
| 4310 | (w_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 4311 | B_MATLABSystem_cartesian_traj_T *localB) |
| 4312 | { |
| 4313 | w_robotics_manip_internal_Rig_T *b_obj; |
| 4314 | int8_T msubspace_data[36]; |
| 4315 | real_T poslim_data[12]; |
| 4316 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 4317 | boolean_T b_bool; |
| 4318 | int32_T b_kstr; |
| 4319 | char_T b[8]; |
| 4320 | char_T b_0[9]; |
| 4321 | int32_T loop_ub; |
| 4322 | int8_T tmp[6]; |
| 4323 | static const char_T tmp_0[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4324 | '\x05' }; |
| 4325 | |
| 4326 | static const int8_T tmp_1[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 4327 | 1 }; |
| 4328 | |
| 4329 | static const char_T tmp_2[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4330 | '\x05', '_', 'j', 'n', 't' }; |
| 4331 | |
| 4332 | static const char_T tmp_3[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 4333 | |
| 4334 | static const char_T tmp_4[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 4335 | |
| 4336 | static const char_T tmp_5[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 4337 | |
| 4338 | int32_T exitg1; |
| 4339 | b_obj = obj; |
| 4340 | b_kstr = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 4341 | obj->NameInternal->size[0] = 1; |
| 4342 | obj->NameInternal->size[1] = 10; |
| 4343 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, b_kstr, localB); |
| 4344 | for (b_kstr = 0; b_kstr < 10; b_kstr++) { |
| 4345 | obj->NameInternal->data[b_kstr] = tmp_0[b_kstr]; |
| 4346 | } |
| 4347 | |
| 4348 | iobj_0->InTree = false; |
| 4349 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 4350 | iobj_0->JointToParentTransform[b_kstr] = tmp_1[b_kstr]; |
| 4351 | } |
| 4352 | |
| 4353 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 4354 | iobj_0->ChildToJointTransform[b_kstr] = tmp_1[b_kstr]; |
| 4355 | } |
| 4356 | |
| 4357 | b_kstr = iobj_0->NameInternal->size[0] * iobj_0->NameInternal->size[1]; |
| 4358 | iobj_0->NameInternal->size[0] = 1; |
| 4359 | iobj_0->NameInternal->size[1] = 14; |
| 4360 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, b_kstr, localB); |
| 4361 | for (b_kstr = 0; b_kstr < 14; b_kstr++) { |
| 4362 | iobj_0->NameInternal->data[b_kstr] = tmp_2[b_kstr]; |
| 4363 | } |
| 4364 | |
| 4365 | b_kstr = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 4366 | iobj_0->Type->size[0] = 1; |
| 4367 | iobj_0->Type->size[1] = 5; |
| 4368 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, b_kstr, localB); |
| 4369 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 4370 | iobj_0->Type->data[b_kstr] = tmp_3[b_kstr]; |
| 4371 | } |
| 4372 | |
| 4373 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 4374 | b_kstr = switch_expression->size[0] * switch_expression->size[1]; |
| 4375 | switch_expression->size[0] = 1; |
| 4376 | switch_expression->size[1] = iobj_0->Type->size[1]; |
| 4377 | cartes_emxEnsureCapacity_char_T(switch_expression, b_kstr, localB); |
| 4378 | loop_ub = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 4379 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 4380 | switch_expression->data[b_kstr] = iobj_0->Type->data[b_kstr]; |
| 4381 | } |
| 4382 | |
| 4383 | for (b_kstr = 0; b_kstr < 8; b_kstr++) { |
| 4384 | b[b_kstr] = tmp_4[b_kstr]; |
| 4385 | } |
| 4386 | |
| 4387 | b_bool = false; |
| 4388 | if (switch_expression->size[1] == 8) { |
| 4389 | b_kstr = 1; |
| 4390 | do { |
| 4391 | exitg1 = 0; |
| 4392 | if (b_kstr - 1 < 8) { |
| 4393 | loop_ub = b_kstr - 1; |
| 4394 | if (switch_expression->data[loop_ub] != b[loop_ub]) { |
| 4395 | exitg1 = 1; |
| 4396 | } else { |
| 4397 | b_kstr++; |
| 4398 | } |
| 4399 | } else { |
| 4400 | b_bool = true; |
| 4401 | exitg1 = 1; |
| 4402 | } |
| 4403 | } while (exitg1 == 0); |
| 4404 | } |
| 4405 | |
| 4406 | if (b_bool) { |
| 4407 | b_kstr = 0; |
| 4408 | } else { |
| 4409 | for (b_kstr = 0; b_kstr < 9; b_kstr++) { |
| 4410 | b_0[b_kstr] = tmp_5[b_kstr]; |
| 4411 | } |
| 4412 | |
| 4413 | b_bool = false; |
| 4414 | if (switch_expression->size[1] == 9) { |
| 4415 | b_kstr = 1; |
| 4416 | do { |
| 4417 | exitg1 = 0; |
| 4418 | if (b_kstr - 1 < 9) { |
| 4419 | loop_ub = b_kstr - 1; |
| 4420 | if (switch_expression->data[loop_ub] != b_0[loop_ub]) { |
| 4421 | exitg1 = 1; |
| 4422 | } else { |
| 4423 | b_kstr++; |
| 4424 | } |
| 4425 | } else { |
| 4426 | b_bool = true; |
| 4427 | exitg1 = 1; |
| 4428 | } |
| 4429 | } while (exitg1 == 0); |
| 4430 | } |
| 4431 | |
| 4432 | if (b_bool) { |
| 4433 | b_kstr = 1; |
| 4434 | } else { |
| 4435 | b_kstr = -1; |
| 4436 | } |
| 4437 | } |
| 4438 | |
| 4439 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 4440 | switch (b_kstr) { |
| 4441 | case 0: |
| 4442 | tmp[0] = 0; |
| 4443 | tmp[1] = 0; |
| 4444 | tmp[2] = 1; |
| 4445 | tmp[3] = 0; |
| 4446 | tmp[4] = 0; |
| 4447 | tmp[5] = 0; |
| 4448 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4449 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4450 | } |
| 4451 | |
| 4452 | poslim_data[0] = -3.1415926535897931; |
| 4453 | poslim_data[1] = 3.1415926535897931; |
| 4454 | iobj_0->VelocityNumber = 1.0; |
| 4455 | iobj_0->PositionNumber = 1.0; |
| 4456 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4457 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4458 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4459 | break; |
| 4460 | |
| 4461 | case 1: |
| 4462 | tmp[0] = 0; |
| 4463 | tmp[1] = 0; |
| 4464 | tmp[2] = 0; |
| 4465 | tmp[3] = 0; |
| 4466 | tmp[4] = 0; |
| 4467 | tmp[5] = 1; |
| 4468 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4469 | msubspace_data[b_kstr] = tmp[b_kstr]; |
| 4470 | } |
| 4471 | |
| 4472 | poslim_data[0] = -0.5; |
| 4473 | poslim_data[1] = 0.5; |
| 4474 | iobj_0->VelocityNumber = 1.0; |
| 4475 | iobj_0->PositionNumber = 1.0; |
| 4476 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4477 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4478 | iobj_0->JointAxisInternal[2] = 1.0; |
| 4479 | break; |
| 4480 | |
| 4481 | default: |
| 4482 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4483 | msubspace_data[b_kstr] = 0; |
| 4484 | } |
| 4485 | |
| 4486 | poslim_data[0] = 0.0; |
| 4487 | poslim_data[1] = 0.0; |
| 4488 | iobj_0->VelocityNumber = 0.0; |
| 4489 | iobj_0->PositionNumber = 0.0; |
| 4490 | iobj_0->JointAxisInternal[0] = 0.0; |
| 4491 | iobj_0->JointAxisInternal[1] = 0.0; |
| 4492 | iobj_0->JointAxisInternal[2] = 0.0; |
| 4493 | break; |
| 4494 | } |
| 4495 | |
| 4496 | b_kstr = iobj_0->MotionSubspace->size[0] * iobj_0->MotionSubspace->size[1]; |
| 4497 | iobj_0->MotionSubspace->size[0] = 6; |
| 4498 | iobj_0->MotionSubspace->size[1] = 1; |
| 4499 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, b_kstr, localB); |
| 4500 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 4501 | iobj_0->MotionSubspace->data[b_kstr] = msubspace_data[b_kstr]; |
| 4502 | } |
| 4503 | |
| 4504 | b_kstr = iobj_0->PositionLimitsInternal->size[0] * |
| 4505 | iobj_0->PositionLimitsInternal->size[1]; |
| 4506 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 4507 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 4508 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, b_kstr, localB); |
| 4509 | for (b_kstr = 0; b_kstr < 2; b_kstr++) { |
| 4510 | iobj_0->PositionLimitsInternal->data[b_kstr] = poslim_data[b_kstr]; |
| 4511 | } |
| 4512 | |
| 4513 | b_kstr = iobj_0->HomePositionInternal->size[0]; |
| 4514 | iobj_0->HomePositionInternal->size[0] = 1; |
| 4515 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, b_kstr, localB); |
| 4516 | for (b_kstr = 0; b_kstr < 1; b_kstr++) { |
| 4517 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 4518 | } |
| 4519 | |
| 4520 | obj->JointInternal = iobj_0; |
| 4521 | obj->Index = -1.0; |
| 4522 | obj->ParentIndex = -1.0; |
| 4523 | return b_obj; |
| 4524 | } |
| 4525 | |
| 4526 | static void ca_RigidBodyTree_clearAllBodies(x_robotics_manip_internal_Rig_T *obj, |
| 4527 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 4528 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 4529 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 4530 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 4531 | w_robotics_manip_internal_Rig_T *iobj_6, c_rigidBodyJoint_cartesian_tr_T |
| 4532 | *iobj_7, c_rigidBodyJoint_cartesian_tr_T *iobj_8, |
| 4533 | c_rigidBodyJoint_cartesian_tr_T *iobj_9, c_rigidBodyJoint_cartesian_tr_T |
| 4534 | *iobj_10, c_rigidBodyJoint_cartesian_tr_T *iobj_11, |
| 4535 | c_rigidBodyJoint_cartesian_tr_T *iobj_12, c_rigidBodyJoint_cartesian_tr_T |
| 4536 | *iobj_13, c_rigidBodyJoint_cartesian_tr_T *iobj_14, |
| 4537 | w_robotics_manip_internal_Rig_T *iobj_15, B_MATLABSystem_cartesian_traj_T |
| 4538 | *localB, DW_MATLABSystem_cartesian_tra_T *localDW) |
| 4539 | { |
| 4540 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 4541 | static const char_T tmp[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4542 | '\x06' }; |
| 4543 | |
| 4544 | static const int8_T tmp_0[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, |
| 4545 | 1 }; |
| 4546 | |
| 4547 | static const char_T tmp_1[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4548 | '\x06', '_', 'j', 'n', 't' }; |
| 4549 | |
| 4550 | static const char_T tmp_2[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 4551 | |
| 4552 | static const char_T tmp_3[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 4553 | |
| 4554 | static const char_T tmp_4[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 4555 | |
| 4556 | static const char_T tmp_5[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4557 | '\x07' }; |
| 4558 | |
| 4559 | static const char_T tmp_6[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4560 | '\x07', '_', 'j', 'n', 't' }; |
| 4561 | |
| 4562 | static const char_T tmp_7[10] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4563 | '\x08' }; |
| 4564 | |
| 4565 | static const char_T tmp_8[14] = { 'd', 'u', 'm', 'm', 'y', 'b', 'o', 'd', 'y', |
| 4566 | '\x08', '_', 'j', 'n', 't' }; |
| 4567 | |
| 4568 | int32_T exitg1; |
| 4569 | obj->Bodies[0] = car_RigidBody_RigidBody_byapfac(iobj_15, iobj_14, localB); |
| 4570 | obj->Bodies[1] = ca_RigidBody_RigidBody_byapfac3(iobj_0, iobj_7, localB); |
| 4571 | obj->Bodies[2] = c_RigidBody_RigidBody_byapfac3i(iobj_1, iobj_8, localB); |
| 4572 | obj->Bodies[3] = RigidBody_RigidBody_byapfac3iu(iobj_2, iobj_9, localB); |
| 4573 | obj->Bodies[4] = RigidBody_RigidBody_byapfac3iu2(iobj_3, iobj_10, localB); |
| 4574 | localB->b_kstr_o = iobj_4->NameInternal->size[0] * iobj_4->NameInternal->size |
| 4575 | [1]; |
| 4576 | iobj_4->NameInternal->size[0] = 1; |
| 4577 | iobj_4->NameInternal->size[1] = 10; |
| 4578 | cartes_emxEnsureCapacity_char_T(iobj_4->NameInternal, localB->b_kstr_o, localB); |
| 4579 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 10; localB->b_kstr_o++) { |
| 4580 | iobj_4->NameInternal->data[localB->b_kstr_o] = tmp[localB->b_kstr_o]; |
| 4581 | } |
| 4582 | |
| 4583 | iobj_11->InTree = false; |
| 4584 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4585 | iobj_11->JointToParentTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4586 | } |
| 4587 | |
| 4588 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4589 | iobj_11->ChildToJointTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4590 | } |
| 4591 | |
| 4592 | localB->b_kstr_o = iobj_11->NameInternal->size[0] * iobj_11-> |
| 4593 | NameInternal->size[1]; |
| 4594 | iobj_11->NameInternal->size[0] = 1; |
| 4595 | iobj_11->NameInternal->size[1] = 14; |
| 4596 | cartes_emxEnsureCapacity_char_T(iobj_11->NameInternal, localB->b_kstr_o, |
| 4597 | localB); |
| 4598 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 14; localB->b_kstr_o++) { |
| 4599 | iobj_11->NameInternal->data[localB->b_kstr_o] = tmp_1[localB->b_kstr_o]; |
| 4600 | } |
| 4601 | |
| 4602 | localB->b_kstr_o = iobj_11->Type->size[0] * iobj_11->Type->size[1]; |
| 4603 | iobj_11->Type->size[0] = 1; |
| 4604 | iobj_11->Type->size[1] = 5; |
| 4605 | cartes_emxEnsureCapacity_char_T(iobj_11->Type, localB->b_kstr_o, localB); |
| 4606 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 5; localB->b_kstr_o++) { |
| 4607 | iobj_11->Type->data[localB->b_kstr_o] = tmp_2[localB->b_kstr_o]; |
| 4608 | } |
| 4609 | |
| 4610 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 4611 | localB->b_kstr_o = switch_expression->size[0] * switch_expression->size[1]; |
| 4612 | switch_expression->size[0] = 1; |
| 4613 | switch_expression->size[1] = iobj_11->Type->size[1]; |
| 4614 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_o, localB); |
| 4615 | localB->loop_ub_c = iobj_11->Type->size[0] * iobj_11->Type->size[1] - 1; |
| 4616 | for (localB->b_kstr_o = 0; localB->b_kstr_o <= localB->loop_ub_c; |
| 4617 | localB->b_kstr_o++) { |
| 4618 | switch_expression->data[localB->b_kstr_o] = iobj_11->Type->data |
| 4619 | [localB->b_kstr_o]; |
| 4620 | } |
| 4621 | |
| 4622 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 8; localB->b_kstr_o++) { |
| 4623 | localB->b_p[localB->b_kstr_o] = tmp_3[localB->b_kstr_o]; |
| 4624 | } |
| 4625 | |
| 4626 | localB->b_bool_kb = false; |
| 4627 | if (switch_expression->size[1] == 8) { |
| 4628 | localB->b_kstr_o = 1; |
| 4629 | do { |
| 4630 | exitg1 = 0; |
| 4631 | if (localB->b_kstr_o - 1 < 8) { |
| 4632 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 4633 | if (switch_expression->data[localB->loop_ub_c] != localB->b_p |
| 4634 | [localB->loop_ub_c]) { |
| 4635 | exitg1 = 1; |
| 4636 | } else { |
| 4637 | localB->b_kstr_o++; |
| 4638 | } |
| 4639 | } else { |
| 4640 | localB->b_bool_kb = true; |
| 4641 | exitg1 = 1; |
| 4642 | } |
| 4643 | } while (exitg1 == 0); |
| 4644 | } |
| 4645 | |
| 4646 | if (localB->b_bool_kb) { |
| 4647 | localB->b_kstr_o = 0; |
| 4648 | } else { |
| 4649 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 9; localB->b_kstr_o++) { |
| 4650 | localB->b_m[localB->b_kstr_o] = tmp_4[localB->b_kstr_o]; |
| 4651 | } |
| 4652 | |
| 4653 | localB->b_bool_kb = false; |
| 4654 | if (switch_expression->size[1] == 9) { |
| 4655 | localB->b_kstr_o = 1; |
| 4656 | do { |
| 4657 | exitg1 = 0; |
| 4658 | if (localB->b_kstr_o - 1 < 9) { |
| 4659 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 4660 | if (switch_expression->data[localB->loop_ub_c] != localB->b_m |
| 4661 | [localB->loop_ub_c]) { |
| 4662 | exitg1 = 1; |
| 4663 | } else { |
| 4664 | localB->b_kstr_o++; |
| 4665 | } |
| 4666 | } else { |
| 4667 | localB->b_bool_kb = true; |
| 4668 | exitg1 = 1; |
| 4669 | } |
| 4670 | } while (exitg1 == 0); |
| 4671 | } |
| 4672 | |
| 4673 | if (localB->b_bool_kb) { |
| 4674 | localB->b_kstr_o = 1; |
| 4675 | } else { |
| 4676 | localB->b_kstr_o = -1; |
| 4677 | } |
| 4678 | } |
| 4679 | |
| 4680 | switch (localB->b_kstr_o) { |
| 4681 | case 0: |
| 4682 | localB->iv1[0] = 0; |
| 4683 | localB->iv1[1] = 0; |
| 4684 | localB->iv1[2] = 1; |
| 4685 | localB->iv1[3] = 0; |
| 4686 | localB->iv1[4] = 0; |
| 4687 | localB->iv1[5] = 0; |
| 4688 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4689 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 4690 | } |
| 4691 | |
| 4692 | localB->poslim_data_c[0] = -3.1415926535897931; |
| 4693 | localB->poslim_data_c[1] = 3.1415926535897931; |
| 4694 | iobj_11->VelocityNumber = 1.0; |
| 4695 | iobj_11->PositionNumber = 1.0; |
| 4696 | iobj_11->JointAxisInternal[0] = 0.0; |
| 4697 | iobj_11->JointAxisInternal[1] = 0.0; |
| 4698 | iobj_11->JointAxisInternal[2] = 1.0; |
| 4699 | break; |
| 4700 | |
| 4701 | case 1: |
| 4702 | localB->iv1[0] = 0; |
| 4703 | localB->iv1[1] = 0; |
| 4704 | localB->iv1[2] = 0; |
| 4705 | localB->iv1[3] = 0; |
| 4706 | localB->iv1[4] = 0; |
| 4707 | localB->iv1[5] = 1; |
| 4708 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4709 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 4710 | } |
| 4711 | |
| 4712 | localB->poslim_data_c[0] = -0.5; |
| 4713 | localB->poslim_data_c[1] = 0.5; |
| 4714 | iobj_11->VelocityNumber = 1.0; |
| 4715 | iobj_11->PositionNumber = 1.0; |
| 4716 | iobj_11->JointAxisInternal[0] = 0.0; |
| 4717 | iobj_11->JointAxisInternal[1] = 0.0; |
| 4718 | iobj_11->JointAxisInternal[2] = 1.0; |
| 4719 | break; |
| 4720 | |
| 4721 | default: |
| 4722 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4723 | localB->msubspace_data_a[localB->b_kstr_o] = 0; |
| 4724 | } |
| 4725 | |
| 4726 | localB->poslim_data_c[0] = 0.0; |
| 4727 | localB->poslim_data_c[1] = 0.0; |
| 4728 | iobj_11->VelocityNumber = 0.0; |
| 4729 | iobj_11->PositionNumber = 0.0; |
| 4730 | iobj_11->JointAxisInternal[0] = 0.0; |
| 4731 | iobj_11->JointAxisInternal[1] = 0.0; |
| 4732 | iobj_11->JointAxisInternal[2] = 0.0; |
| 4733 | break; |
| 4734 | } |
| 4735 | |
| 4736 | localB->b_kstr_o = iobj_11->MotionSubspace->size[0] * iobj_11-> |
| 4737 | MotionSubspace->size[1]; |
| 4738 | iobj_11->MotionSubspace->size[0] = 6; |
| 4739 | iobj_11->MotionSubspace->size[1] = 1; |
| 4740 | cartes_emxEnsureCapacity_real_T(iobj_11->MotionSubspace, localB->b_kstr_o, |
| 4741 | localB); |
| 4742 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4743 | iobj_11->MotionSubspace->data[localB->b_kstr_o] = localB-> |
| 4744 | msubspace_data_a[localB->b_kstr_o]; |
| 4745 | } |
| 4746 | |
| 4747 | localB->b_kstr_o = iobj_11->PositionLimitsInternal->size[0] * |
| 4748 | iobj_11->PositionLimitsInternal->size[1]; |
| 4749 | iobj_11->PositionLimitsInternal->size[0] = 1; |
| 4750 | iobj_11->PositionLimitsInternal->size[1] = 2; |
| 4751 | cartes_emxEnsureCapacity_real_T(iobj_11->PositionLimitsInternal, |
| 4752 | localB->b_kstr_o, localB); |
| 4753 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 2; localB->b_kstr_o++) { |
| 4754 | iobj_11->PositionLimitsInternal->data[localB->b_kstr_o] = |
| 4755 | localB->poslim_data_c[localB->b_kstr_o]; |
| 4756 | } |
| 4757 | |
| 4758 | localB->b_kstr_o = iobj_11->HomePositionInternal->size[0]; |
| 4759 | iobj_11->HomePositionInternal->size[0] = 1; |
| 4760 | cartes_emxEnsureCapacity_real_T(iobj_11->HomePositionInternal, |
| 4761 | localB->b_kstr_o, localB); |
| 4762 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 1; localB->b_kstr_o++) { |
| 4763 | iobj_11->HomePositionInternal->data[0] = 0.0; |
| 4764 | } |
| 4765 | |
| 4766 | iobj_4->JointInternal = iobj_11; |
| 4767 | iobj_4->Index = -1.0; |
| 4768 | iobj_4->ParentIndex = -1.0; |
| 4769 | obj->Bodies[5] = iobj_4; |
| 4770 | localB->b_kstr_o = iobj_5->NameInternal->size[0] * iobj_5->NameInternal->size |
| 4771 | [1]; |
| 4772 | iobj_5->NameInternal->size[0] = 1; |
| 4773 | iobj_5->NameInternal->size[1] = 10; |
| 4774 | cartes_emxEnsureCapacity_char_T(iobj_5->NameInternal, localB->b_kstr_o, localB); |
| 4775 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 10; localB->b_kstr_o++) { |
| 4776 | iobj_5->NameInternal->data[localB->b_kstr_o] = tmp_5[localB->b_kstr_o]; |
| 4777 | } |
| 4778 | |
| 4779 | iobj_12->InTree = false; |
| 4780 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4781 | iobj_12->JointToParentTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4782 | } |
| 4783 | |
| 4784 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4785 | iobj_12->ChildToJointTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4786 | } |
| 4787 | |
| 4788 | localB->b_kstr_o = iobj_12->NameInternal->size[0] * iobj_12-> |
| 4789 | NameInternal->size[1]; |
| 4790 | iobj_12->NameInternal->size[0] = 1; |
| 4791 | iobj_12->NameInternal->size[1] = 14; |
| 4792 | cartes_emxEnsureCapacity_char_T(iobj_12->NameInternal, localB->b_kstr_o, |
| 4793 | localB); |
| 4794 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 14; localB->b_kstr_o++) { |
| 4795 | iobj_12->NameInternal->data[localB->b_kstr_o] = tmp_6[localB->b_kstr_o]; |
| 4796 | } |
| 4797 | |
| 4798 | localB->b_kstr_o = iobj_12->Type->size[0] * iobj_12->Type->size[1]; |
| 4799 | iobj_12->Type->size[0] = 1; |
| 4800 | iobj_12->Type->size[1] = 5; |
| 4801 | cartes_emxEnsureCapacity_char_T(iobj_12->Type, localB->b_kstr_o, localB); |
| 4802 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 5; localB->b_kstr_o++) { |
| 4803 | iobj_12->Type->data[localB->b_kstr_o] = tmp_2[localB->b_kstr_o]; |
| 4804 | } |
| 4805 | |
| 4806 | localB->b_kstr_o = switch_expression->size[0] * switch_expression->size[1]; |
| 4807 | switch_expression->size[0] = 1; |
| 4808 | switch_expression->size[1] = iobj_12->Type->size[1]; |
| 4809 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_o, localB); |
| 4810 | localB->loop_ub_c = iobj_12->Type->size[0] * iobj_12->Type->size[1] - 1; |
| 4811 | for (localB->b_kstr_o = 0; localB->b_kstr_o <= localB->loop_ub_c; |
| 4812 | localB->b_kstr_o++) { |
| 4813 | switch_expression->data[localB->b_kstr_o] = iobj_12->Type->data |
| 4814 | [localB->b_kstr_o]; |
| 4815 | } |
| 4816 | |
| 4817 | localB->b_bool_kb = false; |
| 4818 | if (switch_expression->size[1] == 8) { |
| 4819 | localB->b_kstr_o = 1; |
| 4820 | do { |
| 4821 | exitg1 = 0; |
| 4822 | if (localB->b_kstr_o - 1 < 8) { |
| 4823 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 4824 | if (switch_expression->data[localB->loop_ub_c] != localB->b_p |
| 4825 | [localB->loop_ub_c]) { |
| 4826 | exitg1 = 1; |
| 4827 | } else { |
| 4828 | localB->b_kstr_o++; |
| 4829 | } |
| 4830 | } else { |
| 4831 | localB->b_bool_kb = true; |
| 4832 | exitg1 = 1; |
| 4833 | } |
| 4834 | } while (exitg1 == 0); |
| 4835 | } |
| 4836 | |
| 4837 | if (localB->b_bool_kb) { |
| 4838 | localB->b_kstr_o = 0; |
| 4839 | } else { |
| 4840 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 9; localB->b_kstr_o++) { |
| 4841 | localB->b_m[localB->b_kstr_o] = tmp_4[localB->b_kstr_o]; |
| 4842 | } |
| 4843 | |
| 4844 | localB->b_bool_kb = false; |
| 4845 | if (switch_expression->size[1] == 9) { |
| 4846 | localB->b_kstr_o = 1; |
| 4847 | do { |
| 4848 | exitg1 = 0; |
| 4849 | if (localB->b_kstr_o - 1 < 9) { |
| 4850 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 4851 | if (switch_expression->data[localB->loop_ub_c] != localB->b_m |
| 4852 | [localB->loop_ub_c]) { |
| 4853 | exitg1 = 1; |
| 4854 | } else { |
| 4855 | localB->b_kstr_o++; |
| 4856 | } |
| 4857 | } else { |
| 4858 | localB->b_bool_kb = true; |
| 4859 | exitg1 = 1; |
| 4860 | } |
| 4861 | } while (exitg1 == 0); |
| 4862 | } |
| 4863 | |
| 4864 | if (localB->b_bool_kb) { |
| 4865 | localB->b_kstr_o = 1; |
| 4866 | } else { |
| 4867 | localB->b_kstr_o = -1; |
| 4868 | } |
| 4869 | } |
| 4870 | |
| 4871 | switch (localB->b_kstr_o) { |
| 4872 | case 0: |
| 4873 | localB->iv1[0] = 0; |
| 4874 | localB->iv1[1] = 0; |
| 4875 | localB->iv1[2] = 1; |
| 4876 | localB->iv1[3] = 0; |
| 4877 | localB->iv1[4] = 0; |
| 4878 | localB->iv1[5] = 0; |
| 4879 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4880 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 4881 | } |
| 4882 | |
| 4883 | localB->poslim_data_c[0] = -3.1415926535897931; |
| 4884 | localB->poslim_data_c[1] = 3.1415926535897931; |
| 4885 | iobj_12->VelocityNumber = 1.0; |
| 4886 | iobj_12->PositionNumber = 1.0; |
| 4887 | iobj_12->JointAxisInternal[0] = 0.0; |
| 4888 | iobj_12->JointAxisInternal[1] = 0.0; |
| 4889 | iobj_12->JointAxisInternal[2] = 1.0; |
| 4890 | break; |
| 4891 | |
| 4892 | case 1: |
| 4893 | localB->iv1[0] = 0; |
| 4894 | localB->iv1[1] = 0; |
| 4895 | localB->iv1[2] = 0; |
| 4896 | localB->iv1[3] = 0; |
| 4897 | localB->iv1[4] = 0; |
| 4898 | localB->iv1[5] = 1; |
| 4899 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4900 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 4901 | } |
| 4902 | |
| 4903 | localB->poslim_data_c[0] = -0.5; |
| 4904 | localB->poslim_data_c[1] = 0.5; |
| 4905 | iobj_12->VelocityNumber = 1.0; |
| 4906 | iobj_12->PositionNumber = 1.0; |
| 4907 | iobj_12->JointAxisInternal[0] = 0.0; |
| 4908 | iobj_12->JointAxisInternal[1] = 0.0; |
| 4909 | iobj_12->JointAxisInternal[2] = 1.0; |
| 4910 | break; |
| 4911 | |
| 4912 | default: |
| 4913 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4914 | localB->msubspace_data_a[localB->b_kstr_o] = 0; |
| 4915 | } |
| 4916 | |
| 4917 | localB->poslim_data_c[0] = 0.0; |
| 4918 | localB->poslim_data_c[1] = 0.0; |
| 4919 | iobj_12->VelocityNumber = 0.0; |
| 4920 | iobj_12->PositionNumber = 0.0; |
| 4921 | iobj_12->JointAxisInternal[0] = 0.0; |
| 4922 | iobj_12->JointAxisInternal[1] = 0.0; |
| 4923 | iobj_12->JointAxisInternal[2] = 0.0; |
| 4924 | break; |
| 4925 | } |
| 4926 | |
| 4927 | localB->b_kstr_o = iobj_12->MotionSubspace->size[0] * iobj_12-> |
| 4928 | MotionSubspace->size[1]; |
| 4929 | iobj_12->MotionSubspace->size[0] = 6; |
| 4930 | iobj_12->MotionSubspace->size[1] = 1; |
| 4931 | cartes_emxEnsureCapacity_real_T(iobj_12->MotionSubspace, localB->b_kstr_o, |
| 4932 | localB); |
| 4933 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 4934 | iobj_12->MotionSubspace->data[localB->b_kstr_o] = localB-> |
| 4935 | msubspace_data_a[localB->b_kstr_o]; |
| 4936 | } |
| 4937 | |
| 4938 | localB->b_kstr_o = iobj_12->PositionLimitsInternal->size[0] * |
| 4939 | iobj_12->PositionLimitsInternal->size[1]; |
| 4940 | iobj_12->PositionLimitsInternal->size[0] = 1; |
| 4941 | iobj_12->PositionLimitsInternal->size[1] = 2; |
| 4942 | cartes_emxEnsureCapacity_real_T(iobj_12->PositionLimitsInternal, |
| 4943 | localB->b_kstr_o, localB); |
| 4944 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 2; localB->b_kstr_o++) { |
| 4945 | iobj_12->PositionLimitsInternal->data[localB->b_kstr_o] = |
| 4946 | localB->poslim_data_c[localB->b_kstr_o]; |
| 4947 | } |
| 4948 | |
| 4949 | localB->b_kstr_o = iobj_12->HomePositionInternal->size[0]; |
| 4950 | iobj_12->HomePositionInternal->size[0] = 1; |
| 4951 | cartes_emxEnsureCapacity_real_T(iobj_12->HomePositionInternal, |
| 4952 | localB->b_kstr_o, localB); |
| 4953 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 1; localB->b_kstr_o++) { |
| 4954 | iobj_12->HomePositionInternal->data[0] = 0.0; |
| 4955 | } |
| 4956 | |
| 4957 | iobj_5->JointInternal = iobj_12; |
| 4958 | iobj_5->Index = -1.0; |
| 4959 | iobj_5->ParentIndex = -1.0; |
| 4960 | obj->Bodies[6] = iobj_5; |
| 4961 | localB->b_kstr_o = iobj_6->NameInternal->size[0] * iobj_6->NameInternal->size |
| 4962 | [1]; |
| 4963 | iobj_6->NameInternal->size[0] = 1; |
| 4964 | iobj_6->NameInternal->size[1] = 10; |
| 4965 | cartes_emxEnsureCapacity_char_T(iobj_6->NameInternal, localB->b_kstr_o, localB); |
| 4966 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 10; localB->b_kstr_o++) { |
| 4967 | iobj_6->NameInternal->data[localB->b_kstr_o] = tmp_7[localB->b_kstr_o]; |
| 4968 | } |
| 4969 | |
| 4970 | iobj_13->InTree = false; |
| 4971 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4972 | iobj_13->JointToParentTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4973 | } |
| 4974 | |
| 4975 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 16; localB->b_kstr_o++) { |
| 4976 | iobj_13->ChildToJointTransform[localB->b_kstr_o] = tmp_0[localB->b_kstr_o]; |
| 4977 | } |
| 4978 | |
| 4979 | localB->b_kstr_o = iobj_13->NameInternal->size[0] * iobj_13-> |
| 4980 | NameInternal->size[1]; |
| 4981 | iobj_13->NameInternal->size[0] = 1; |
| 4982 | iobj_13->NameInternal->size[1] = 14; |
| 4983 | cartes_emxEnsureCapacity_char_T(iobj_13->NameInternal, localB->b_kstr_o, |
| 4984 | localB); |
| 4985 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 14; localB->b_kstr_o++) { |
| 4986 | iobj_13->NameInternal->data[localB->b_kstr_o] = tmp_8[localB->b_kstr_o]; |
| 4987 | } |
| 4988 | |
| 4989 | localB->b_kstr_o = iobj_13->Type->size[0] * iobj_13->Type->size[1]; |
| 4990 | iobj_13->Type->size[0] = 1; |
| 4991 | iobj_13->Type->size[1] = 5; |
| 4992 | cartes_emxEnsureCapacity_char_T(iobj_13->Type, localB->b_kstr_o, localB); |
| 4993 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 5; localB->b_kstr_o++) { |
| 4994 | iobj_13->Type->data[localB->b_kstr_o] = tmp_2[localB->b_kstr_o]; |
| 4995 | } |
| 4996 | |
| 4997 | localB->b_kstr_o = switch_expression->size[0] * switch_expression->size[1]; |
| 4998 | switch_expression->size[0] = 1; |
| 4999 | switch_expression->size[1] = iobj_13->Type->size[1]; |
| 5000 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_o, localB); |
| 5001 | localB->loop_ub_c = iobj_13->Type->size[0] * iobj_13->Type->size[1] - 1; |
| 5002 | for (localB->b_kstr_o = 0; localB->b_kstr_o <= localB->loop_ub_c; |
| 5003 | localB->b_kstr_o++) { |
| 5004 | switch_expression->data[localB->b_kstr_o] = iobj_13->Type->data |
| 5005 | [localB->b_kstr_o]; |
| 5006 | } |
| 5007 | |
| 5008 | localB->b_bool_kb = false; |
| 5009 | if (switch_expression->size[1] == 8) { |
| 5010 | localB->b_kstr_o = 1; |
| 5011 | do { |
| 5012 | exitg1 = 0; |
| 5013 | if (localB->b_kstr_o - 1 < 8) { |
| 5014 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 5015 | if (switch_expression->data[localB->loop_ub_c] != localB->b_p |
| 5016 | [localB->loop_ub_c]) { |
| 5017 | exitg1 = 1; |
| 5018 | } else { |
| 5019 | localB->b_kstr_o++; |
| 5020 | } |
| 5021 | } else { |
| 5022 | localB->b_bool_kb = true; |
| 5023 | exitg1 = 1; |
| 5024 | } |
| 5025 | } while (exitg1 == 0); |
| 5026 | } |
| 5027 | |
| 5028 | if (localB->b_bool_kb) { |
| 5029 | localB->b_kstr_o = 0; |
| 5030 | } else { |
| 5031 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 9; localB->b_kstr_o++) { |
| 5032 | localB->b_m[localB->b_kstr_o] = tmp_4[localB->b_kstr_o]; |
| 5033 | } |
| 5034 | |
| 5035 | localB->b_bool_kb = false; |
| 5036 | if (switch_expression->size[1] == 9) { |
| 5037 | localB->b_kstr_o = 1; |
| 5038 | do { |
| 5039 | exitg1 = 0; |
| 5040 | if (localB->b_kstr_o - 1 < 9) { |
| 5041 | localB->loop_ub_c = localB->b_kstr_o - 1; |
| 5042 | if (switch_expression->data[localB->loop_ub_c] != localB->b_m |
| 5043 | [localB->loop_ub_c]) { |
| 5044 | exitg1 = 1; |
| 5045 | } else { |
| 5046 | localB->b_kstr_o++; |
| 5047 | } |
| 5048 | } else { |
| 5049 | localB->b_bool_kb = true; |
| 5050 | exitg1 = 1; |
| 5051 | } |
| 5052 | } while (exitg1 == 0); |
| 5053 | } |
| 5054 | |
| 5055 | if (localB->b_bool_kb) { |
| 5056 | localB->b_kstr_o = 1; |
| 5057 | } else { |
| 5058 | localB->b_kstr_o = -1; |
| 5059 | } |
| 5060 | } |
| 5061 | |
| 5062 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 5063 | switch (localB->b_kstr_o) { |
| 5064 | case 0: |
| 5065 | localB->iv1[0] = 0; |
| 5066 | localB->iv1[1] = 0; |
| 5067 | localB->iv1[2] = 1; |
| 5068 | localB->iv1[3] = 0; |
| 5069 | localB->iv1[4] = 0; |
| 5070 | localB->iv1[5] = 0; |
| 5071 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 5072 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 5073 | } |
| 5074 | |
| 5075 | localB->poslim_data_c[0] = -3.1415926535897931; |
| 5076 | localB->poslim_data_c[1] = 3.1415926535897931; |
| 5077 | iobj_13->VelocityNumber = 1.0; |
| 5078 | iobj_13->PositionNumber = 1.0; |
| 5079 | iobj_13->JointAxisInternal[0] = 0.0; |
| 5080 | iobj_13->JointAxisInternal[1] = 0.0; |
| 5081 | iobj_13->JointAxisInternal[2] = 1.0; |
| 5082 | break; |
| 5083 | |
| 5084 | case 1: |
| 5085 | localB->iv1[0] = 0; |
| 5086 | localB->iv1[1] = 0; |
| 5087 | localB->iv1[2] = 0; |
| 5088 | localB->iv1[3] = 0; |
| 5089 | localB->iv1[4] = 0; |
| 5090 | localB->iv1[5] = 1; |
| 5091 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 5092 | localB->msubspace_data_a[localB->b_kstr_o] = localB->iv1[localB->b_kstr_o]; |
| 5093 | } |
| 5094 | |
| 5095 | localB->poslim_data_c[0] = -0.5; |
| 5096 | localB->poslim_data_c[1] = 0.5; |
| 5097 | iobj_13->VelocityNumber = 1.0; |
| 5098 | iobj_13->PositionNumber = 1.0; |
| 5099 | iobj_13->JointAxisInternal[0] = 0.0; |
| 5100 | iobj_13->JointAxisInternal[1] = 0.0; |
| 5101 | iobj_13->JointAxisInternal[2] = 1.0; |
| 5102 | break; |
| 5103 | |
| 5104 | default: |
| 5105 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 5106 | localB->msubspace_data_a[localB->b_kstr_o] = 0; |
| 5107 | } |
| 5108 | |
| 5109 | localB->poslim_data_c[0] = 0.0; |
| 5110 | localB->poslim_data_c[1] = 0.0; |
| 5111 | iobj_13->VelocityNumber = 0.0; |
| 5112 | iobj_13->PositionNumber = 0.0; |
| 5113 | iobj_13->JointAxisInternal[0] = 0.0; |
| 5114 | iobj_13->JointAxisInternal[1] = 0.0; |
| 5115 | iobj_13->JointAxisInternal[2] = 0.0; |
| 5116 | break; |
| 5117 | } |
| 5118 | |
| 5119 | localB->b_kstr_o = iobj_13->MotionSubspace->size[0] * iobj_13-> |
| 5120 | MotionSubspace->size[1]; |
| 5121 | iobj_13->MotionSubspace->size[0] = 6; |
| 5122 | iobj_13->MotionSubspace->size[1] = 1; |
| 5123 | cartes_emxEnsureCapacity_real_T(iobj_13->MotionSubspace, localB->b_kstr_o, |
| 5124 | localB); |
| 5125 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 6; localB->b_kstr_o++) { |
| 5126 | iobj_13->MotionSubspace->data[localB->b_kstr_o] = localB-> |
| 5127 | msubspace_data_a[localB->b_kstr_o]; |
| 5128 | } |
| 5129 | |
| 5130 | localB->b_kstr_o = iobj_13->PositionLimitsInternal->size[0] * |
| 5131 | iobj_13->PositionLimitsInternal->size[1]; |
| 5132 | iobj_13->PositionLimitsInternal->size[0] = 1; |
| 5133 | iobj_13->PositionLimitsInternal->size[1] = 2; |
| 5134 | cartes_emxEnsureCapacity_real_T(iobj_13->PositionLimitsInternal, |
| 5135 | localB->b_kstr_o, localB); |
| 5136 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 2; localB->b_kstr_o++) { |
| 5137 | iobj_13->PositionLimitsInternal->data[localB->b_kstr_o] = |
| 5138 | localB->poslim_data_c[localB->b_kstr_o]; |
| 5139 | } |
| 5140 | |
| 5141 | localB->b_kstr_o = iobj_13->HomePositionInternal->size[0]; |
| 5142 | iobj_13->HomePositionInternal->size[0] = 1; |
| 5143 | cartes_emxEnsureCapacity_real_T(iobj_13->HomePositionInternal, |
| 5144 | localB->b_kstr_o, localB); |
| 5145 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 1; localB->b_kstr_o++) { |
| 5146 | iobj_13->HomePositionInternal->data[0] = 0.0; |
| 5147 | } |
| 5148 | |
| 5149 | iobj_6->JointInternal = iobj_13; |
| 5150 | iobj_6->Index = -1.0; |
| 5151 | iobj_6->ParentIndex = -1.0; |
| 5152 | obj->Bodies[7] = iobj_6; |
| 5153 | obj->NumBodies = 0.0; |
| 5154 | obj->NumNonFixedBodies = 0.0; |
| 5155 | obj->PositionNumber = 0.0; |
| 5156 | obj->VelocityNumber = 0.0; |
| 5157 | cartesian_trajectory_plann_rand(localB->unusedExpr_c, localB, localDW); |
| 5158 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 8; localB->b_kstr_o++) { |
| 5159 | obj->PositionDoFMap[localB->b_kstr_o] = 0.0; |
| 5160 | } |
| 5161 | |
| 5162 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 8; localB->b_kstr_o++) { |
| 5163 | obj->PositionDoFMap[localB->b_kstr_o + 8] = -1.0; |
| 5164 | } |
| 5165 | |
| 5166 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 8; localB->b_kstr_o++) { |
| 5167 | obj->VelocityDoFMap[localB->b_kstr_o] = 0.0; |
| 5168 | } |
| 5169 | |
| 5170 | for (localB->b_kstr_o = 0; localB->b_kstr_o < 8; localB->b_kstr_o++) { |
| 5171 | obj->VelocityDoFMap[localB->b_kstr_o + 8] = -1.0; |
| 5172 | } |
| 5173 | } |
| 5174 | |
| 5175 | static x_robotics_manip_internal_Rig_T *c_RigidBodyTree_RigidBodyTree_i |
| 5176 | (x_robotics_manip_internal_Rig_T *obj, w_robotics_manip_internal_Rig_T *iobj_0, |
| 5177 | w_robotics_manip_internal_Rig_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 5178 | *iobj_2, w_robotics_manip_internal_Rig_T *iobj_3, |
| 5179 | w_robotics_manip_internal_Rig_T *iobj_4, w_robotics_manip_internal_Rig_T |
| 5180 | *iobj_5, w_robotics_manip_internal_Rig_T *iobj_6, |
| 5181 | c_rigidBodyJoint_cartesian_tr_T *iobj_7, c_rigidBodyJoint_cartesian_tr_T |
| 5182 | *iobj_8, c_rigidBodyJoint_cartesian_tr_T *iobj_9, |
| 5183 | c_rigidBodyJoint_cartesian_tr_T *iobj_10, c_rigidBodyJoint_cartesian_tr_T |
| 5184 | *iobj_11, c_rigidBodyJoint_cartesian_tr_T *iobj_12, |
| 5185 | c_rigidBodyJoint_cartesian_tr_T *iobj_13, c_rigidBodyJoint_cartesian_tr_T |
| 5186 | *iobj_14, c_rigidBodyJoint_cartesian_tr_T *iobj_15, |
| 5187 | w_robotics_manip_internal_Rig_T *iobj_16, B_MATLABSystem_cartesian_traj_T |
| 5188 | *localB, DW_MATLABSystem_cartesian_tra_T *localDW) |
| 5189 | { |
| 5190 | x_robotics_manip_internal_Rig_T *b_obj; |
| 5191 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 5192 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 5193 | }; |
| 5194 | |
| 5195 | static const char_T tmp_0[8] = { 'b', 'a', 's', 'e', '_', 'j', 'n', 't' }; |
| 5196 | |
| 5197 | static const char_T tmp_1[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 5198 | |
| 5199 | static const char_T tmp_2[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 5200 | |
| 5201 | static const char_T tmp_3[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 5202 | |
| 5203 | int32_T exitg1; |
| 5204 | b_obj = obj; |
| 5205 | localB->b_kstr_k = obj->Base.NameInternal->size[0] * obj-> |
| 5206 | Base.NameInternal->size[1]; |
| 5207 | obj->Base.NameInternal->size[0] = 1; |
| 5208 | obj->Base.NameInternal->size[1] = 4; |
| 5209 | cartes_emxEnsureCapacity_char_T(obj->Base.NameInternal, localB->b_kstr_k, |
| 5210 | localB); |
| 5211 | obj->Base.NameInternal->data[0] = 'b'; |
| 5212 | obj->Base.NameInternal->data[1] = 'a'; |
| 5213 | obj->Base.NameInternal->data[2] = 's'; |
| 5214 | obj->Base.NameInternal->data[3] = 'e'; |
| 5215 | iobj_15->InTree = false; |
| 5216 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 16; localB->b_kstr_k++) { |
| 5217 | iobj_15->JointToParentTransform[localB->b_kstr_k] = tmp[localB->b_kstr_k]; |
| 5218 | } |
| 5219 | |
| 5220 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 16; localB->b_kstr_k++) { |
| 5221 | iobj_15->ChildToJointTransform[localB->b_kstr_k] = tmp[localB->b_kstr_k]; |
| 5222 | } |
| 5223 | |
| 5224 | localB->b_kstr_k = iobj_15->NameInternal->size[0] * iobj_15-> |
| 5225 | NameInternal->size[1]; |
| 5226 | iobj_15->NameInternal->size[0] = 1; |
| 5227 | iobj_15->NameInternal->size[1] = 8; |
| 5228 | cartes_emxEnsureCapacity_char_T(iobj_15->NameInternal, localB->b_kstr_k, |
| 5229 | localB); |
| 5230 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 8; localB->b_kstr_k++) { |
| 5231 | iobj_15->NameInternal->data[localB->b_kstr_k] = tmp_0[localB->b_kstr_k]; |
| 5232 | } |
| 5233 | |
| 5234 | localB->b_kstr_k = iobj_15->Type->size[0] * iobj_15->Type->size[1]; |
| 5235 | iobj_15->Type->size[0] = 1; |
| 5236 | iobj_15->Type->size[1] = 5; |
| 5237 | cartes_emxEnsureCapacity_char_T(iobj_15->Type, localB->b_kstr_k, localB); |
| 5238 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 5; localB->b_kstr_k++) { |
| 5239 | iobj_15->Type->data[localB->b_kstr_k] = tmp_1[localB->b_kstr_k]; |
| 5240 | } |
| 5241 | |
| 5242 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 5243 | localB->b_kstr_k = switch_expression->size[0] * switch_expression->size[1]; |
| 5244 | switch_expression->size[0] = 1; |
| 5245 | switch_expression->size[1] = iobj_15->Type->size[1]; |
| 5246 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_k, localB); |
| 5247 | localB->loop_ub_j = iobj_15->Type->size[0] * iobj_15->Type->size[1] - 1; |
| 5248 | for (localB->b_kstr_k = 0; localB->b_kstr_k <= localB->loop_ub_j; |
| 5249 | localB->b_kstr_k++) { |
| 5250 | switch_expression->data[localB->b_kstr_k] = iobj_15->Type->data |
| 5251 | [localB->b_kstr_k]; |
| 5252 | } |
| 5253 | |
| 5254 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 8; localB->b_kstr_k++) { |
| 5255 | localB->b_k[localB->b_kstr_k] = tmp_2[localB->b_kstr_k]; |
| 5256 | } |
| 5257 | |
| 5258 | localB->b_bool_j = false; |
| 5259 | if (switch_expression->size[1] == 8) { |
| 5260 | localB->b_kstr_k = 1; |
| 5261 | do { |
| 5262 | exitg1 = 0; |
| 5263 | if (localB->b_kstr_k - 1 < 8) { |
| 5264 | localB->loop_ub_j = localB->b_kstr_k - 1; |
| 5265 | if (switch_expression->data[localB->loop_ub_j] != localB->b_k |
| 5266 | [localB->loop_ub_j]) { |
| 5267 | exitg1 = 1; |
| 5268 | } else { |
| 5269 | localB->b_kstr_k++; |
| 5270 | } |
| 5271 | } else { |
| 5272 | localB->b_bool_j = true; |
| 5273 | exitg1 = 1; |
| 5274 | } |
| 5275 | } while (exitg1 == 0); |
| 5276 | } |
| 5277 | |
| 5278 | if (localB->b_bool_j) { |
| 5279 | localB->b_kstr_k = 0; |
| 5280 | } else { |
| 5281 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 9; localB->b_kstr_k++) { |
| 5282 | localB->b_o[localB->b_kstr_k] = tmp_3[localB->b_kstr_k]; |
| 5283 | } |
| 5284 | |
| 5285 | localB->b_bool_j = false; |
| 5286 | if (switch_expression->size[1] == 9) { |
| 5287 | localB->b_kstr_k = 1; |
| 5288 | do { |
| 5289 | exitg1 = 0; |
| 5290 | if (localB->b_kstr_k - 1 < 9) { |
| 5291 | localB->loop_ub_j = localB->b_kstr_k - 1; |
| 5292 | if (switch_expression->data[localB->loop_ub_j] != localB->b_o |
| 5293 | [localB->loop_ub_j]) { |
| 5294 | exitg1 = 1; |
| 5295 | } else { |
| 5296 | localB->b_kstr_k++; |
| 5297 | } |
| 5298 | } else { |
| 5299 | localB->b_bool_j = true; |
| 5300 | exitg1 = 1; |
| 5301 | } |
| 5302 | } while (exitg1 == 0); |
| 5303 | } |
| 5304 | |
| 5305 | if (localB->b_bool_j) { |
| 5306 | localB->b_kstr_k = 1; |
| 5307 | } else { |
| 5308 | localB->b_kstr_k = -1; |
| 5309 | } |
| 5310 | } |
| 5311 | |
| 5312 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 5313 | switch (localB->b_kstr_k) { |
| 5314 | case 0: |
| 5315 | localB->iv[0] = 0; |
| 5316 | localB->iv[1] = 0; |
| 5317 | localB->iv[2] = 1; |
| 5318 | localB->iv[3] = 0; |
| 5319 | localB->iv[4] = 0; |
| 5320 | localB->iv[5] = 0; |
| 5321 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 6; localB->b_kstr_k++) { |
| 5322 | localB->msubspace_data[localB->b_kstr_k] = localB->iv[localB->b_kstr_k]; |
| 5323 | } |
| 5324 | |
| 5325 | localB->poslim_data[0] = -3.1415926535897931; |
| 5326 | localB->poslim_data[1] = 3.1415926535897931; |
| 5327 | iobj_15->VelocityNumber = 1.0; |
| 5328 | iobj_15->PositionNumber = 1.0; |
| 5329 | iobj_15->JointAxisInternal[0] = 0.0; |
| 5330 | iobj_15->JointAxisInternal[1] = 0.0; |
| 5331 | iobj_15->JointAxisInternal[2] = 1.0; |
| 5332 | break; |
| 5333 | |
| 5334 | case 1: |
| 5335 | localB->iv[0] = 0; |
| 5336 | localB->iv[1] = 0; |
| 5337 | localB->iv[2] = 0; |
| 5338 | localB->iv[3] = 0; |
| 5339 | localB->iv[4] = 0; |
| 5340 | localB->iv[5] = 1; |
| 5341 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 6; localB->b_kstr_k++) { |
| 5342 | localB->msubspace_data[localB->b_kstr_k] = localB->iv[localB->b_kstr_k]; |
| 5343 | } |
| 5344 | |
| 5345 | localB->poslim_data[0] = -0.5; |
| 5346 | localB->poslim_data[1] = 0.5; |
| 5347 | iobj_15->VelocityNumber = 1.0; |
| 5348 | iobj_15->PositionNumber = 1.0; |
| 5349 | iobj_15->JointAxisInternal[0] = 0.0; |
| 5350 | iobj_15->JointAxisInternal[1] = 0.0; |
| 5351 | iobj_15->JointAxisInternal[2] = 1.0; |
| 5352 | break; |
| 5353 | |
| 5354 | default: |
| 5355 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 6; localB->b_kstr_k++) { |
| 5356 | localB->msubspace_data[localB->b_kstr_k] = 0; |
| 5357 | } |
| 5358 | |
| 5359 | localB->poslim_data[0] = 0.0; |
| 5360 | localB->poslim_data[1] = 0.0; |
| 5361 | iobj_15->VelocityNumber = 0.0; |
| 5362 | iobj_15->PositionNumber = 0.0; |
| 5363 | iobj_15->JointAxisInternal[0] = 0.0; |
| 5364 | iobj_15->JointAxisInternal[1] = 0.0; |
| 5365 | iobj_15->JointAxisInternal[2] = 0.0; |
| 5366 | break; |
| 5367 | } |
| 5368 | |
| 5369 | localB->b_kstr_k = iobj_15->MotionSubspace->size[0] * iobj_15-> |
| 5370 | MotionSubspace->size[1]; |
| 5371 | iobj_15->MotionSubspace->size[0] = 6; |
| 5372 | iobj_15->MotionSubspace->size[1] = 1; |
| 5373 | cartes_emxEnsureCapacity_real_T(iobj_15->MotionSubspace, localB->b_kstr_k, |
| 5374 | localB); |
| 5375 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 6; localB->b_kstr_k++) { |
| 5376 | iobj_15->MotionSubspace->data[localB->b_kstr_k] = localB-> |
| 5377 | msubspace_data[localB->b_kstr_k]; |
| 5378 | } |
| 5379 | |
| 5380 | localB->b_kstr_k = iobj_15->PositionLimitsInternal->size[0] * |
| 5381 | iobj_15->PositionLimitsInternal->size[1]; |
| 5382 | iobj_15->PositionLimitsInternal->size[0] = 1; |
| 5383 | iobj_15->PositionLimitsInternal->size[1] = 2; |
| 5384 | cartes_emxEnsureCapacity_real_T(iobj_15->PositionLimitsInternal, |
| 5385 | localB->b_kstr_k, localB); |
| 5386 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 2; localB->b_kstr_k++) { |
| 5387 | iobj_15->PositionLimitsInternal->data[localB->b_kstr_k] = |
| 5388 | localB->poslim_data[localB->b_kstr_k]; |
| 5389 | } |
| 5390 | |
| 5391 | localB->b_kstr_k = iobj_15->HomePositionInternal->size[0]; |
| 5392 | iobj_15->HomePositionInternal->size[0] = 1; |
| 5393 | cartes_emxEnsureCapacity_real_T(iobj_15->HomePositionInternal, |
| 5394 | localB->b_kstr_k, localB); |
| 5395 | for (localB->b_kstr_k = 0; localB->b_kstr_k < 1; localB->b_kstr_k++) { |
| 5396 | iobj_15->HomePositionInternal->data[0] = 0.0; |
| 5397 | } |
| 5398 | |
| 5399 | obj->Base.JointInternal = iobj_15; |
| 5400 | obj->Base.Index = -1.0; |
| 5401 | obj->Base.ParentIndex = -1.0; |
| 5402 | obj->Base.Index = 0.0; |
| 5403 | cartesian_trajectory_plann_rand(localB->unusedExpr, localB, localDW); |
| 5404 | ca_RigidBodyTree_clearAllBodies(obj, iobj_0, iobj_1, iobj_2, iobj_3, iobj_4, |
| 5405 | iobj_5, iobj_6, iobj_8, iobj_9, iobj_10, iobj_11, iobj_12, iobj_13, iobj_14, |
| 5406 | iobj_7, iobj_16, localB, localDW); |
| 5407 | return b_obj; |
| 5408 | } |
| 5409 | |
| 5410 | static boolean_T cartesian_trajectory_pla_strcmp(const |
| 5411 | emxArray_char_T_cartesian_tra_T *a, const emxArray_char_T_cartesian_tra_T *b) |
| 5412 | { |
| 5413 | boolean_T b_bool; |
| 5414 | int32_T kstr; |
| 5415 | int32_T b_kstr; |
| 5416 | boolean_T d; |
| 5417 | int32_T exitg1; |
| 5418 | b_bool = false; |
| 5419 | d = (a->size[1] == 0); |
| 5420 | if (d && (b->size[1] == 0)) { |
| 5421 | b_bool = true; |
| 5422 | } else if (a->size[1] != b->size[1]) { |
| 5423 | } else { |
| 5424 | b_kstr = 1; |
| 5425 | do { |
| 5426 | exitg1 = 0; |
| 5427 | if (b_kstr - 1 <= b->size[1] - 1) { |
| 5428 | kstr = b_kstr - 1; |
| 5429 | if (a->data[kstr] != b->data[kstr]) { |
| 5430 | exitg1 = 1; |
| 5431 | } else { |
| 5432 | b_kstr++; |
| 5433 | } |
| 5434 | } else { |
| 5435 | b_bool = true; |
| 5436 | exitg1 = 1; |
| 5437 | } |
| 5438 | } while (exitg1 == 0); |
| 5439 | } |
| 5440 | |
| 5441 | return b_bool; |
| 5442 | } |
| 5443 | |
| 5444 | static c_rigidBodyJoint_cartesian_tr_T *c_rigidBodyJoint_rigidBodyJoint |
| 5445 | (c_rigidBodyJoint_cartesian_tr_T *obj, const emxArray_char_T_cartesian_tra_T |
| 5446 | *jname, const emxArray_char_T_cartesian_tra_T *jtype, |
| 5447 | B_MATLABSystem_cartesian_traj_T *localB) |
| 5448 | { |
| 5449 | c_rigidBodyJoint_cartesian_tr_T *b_obj; |
| 5450 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 5451 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 5452 | }; |
| 5453 | |
| 5454 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 5455 | |
| 5456 | static const char_T tmp_1[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 5457 | |
| 5458 | static const char_T tmp_2[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 5459 | |
| 5460 | static const char_T tmp_3[128] = { '\x00', '\x01', '\x02', '\x03', '\x04', |
| 5461 | '\x05', '\x06', '\x07', '\x08', '\x09', '\x0a', '\x0b', '\x0c', '\x0d', |
| 5462 | '\x0e', '\x0f', '\x10', '\x11', '\x12', '\x13', '\x14', '\x15', '\x16', |
| 5463 | '\x17', '\x18', '\x19', '\x1a', '\x1b', '\x1c', '\x1d', '\x1e', '\x1f', ' ', |
| 5464 | '!', '\"', '#', '$', '%', '&', '\'', '(', ')', '*', '+', ',', '-', '.', '/', |
| 5465 | '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', ':', ';', '<', '=', '>', |
| 5466 | '?', '@', 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', |
| 5467 | 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', '[', '\\', |
| 5468 | ']', '^', '_', '`', 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', |
| 5469 | 'l', 'm', 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', |
| 5470 | '{', '|', '}', '~', '\x7f' }; |
| 5471 | |
| 5472 | boolean_T guard1 = false; |
| 5473 | boolean_T guard2 = false; |
| 5474 | boolean_T guard3 = false; |
| 5475 | boolean_T guard4 = false; |
| 5476 | int32_T exitg1; |
| 5477 | boolean_T guard11 = false; |
| 5478 | obj->InTree = false; |
| 5479 | for (localB->minnanb = 0; localB->minnanb < 16; localB->minnanb++) { |
| 5480 | obj->JointToParentTransform[localB->minnanb] = tmp[localB->minnanb]; |
| 5481 | } |
| 5482 | |
| 5483 | for (localB->minnanb = 0; localB->minnanb < 16; localB->minnanb++) { |
| 5484 | obj->ChildToJointTransform[localB->minnanb] = tmp[localB->minnanb]; |
| 5485 | } |
| 5486 | |
| 5487 | b_obj = obj; |
| 5488 | localB->minnanb = obj->NameInternal->size[0] * obj->NameInternal->size[1]; |
| 5489 | obj->NameInternal->size[0] = 1; |
| 5490 | obj->NameInternal->size[1] = jname->size[1]; |
| 5491 | cartes_emxEnsureCapacity_char_T(obj->NameInternal, localB->minnanb, localB); |
| 5492 | localB->loop_ub_dr = jname->size[0] * jname->size[1] - 1; |
| 5493 | for (localB->minnanb = 0; localB->minnanb <= localB->loop_ub_dr; |
| 5494 | localB->minnanb++) { |
| 5495 | obj->NameInternal->data[localB->minnanb] = jname->data[localB->minnanb]; |
| 5496 | } |
| 5497 | |
| 5498 | localB->partial_match_size_idx_1 = 0; |
| 5499 | for (localB->minnanb = 0; localB->minnanb < 8; localB->minnanb++) { |
| 5500 | localB->vstr[localB->minnanb] = tmp_0[localB->minnanb]; |
| 5501 | } |
| 5502 | |
| 5503 | guard1 = false; |
| 5504 | guard2 = false; |
| 5505 | guard3 = false; |
| 5506 | guard4 = false; |
| 5507 | if (jtype->size[1] <= 8) { |
| 5508 | localB->loop_ub_dr = jtype->size[1]; |
| 5509 | for (localB->minnanb = 0; localB->minnanb < 8; localB->minnanb++) { |
| 5510 | localB->b_n[localB->minnanb] = tmp_0[localB->minnanb]; |
| 5511 | } |
| 5512 | |
| 5513 | localB->b_bool_e = false; |
| 5514 | localB->minnanb = jtype->size[1]; |
| 5515 | if (localB->minnanb >= 8) { |
| 5516 | localB->minnanb = 8; |
| 5517 | } |
| 5518 | |
| 5519 | guard11 = false; |
| 5520 | if (localB->loop_ub_dr <= localB->minnanb) { |
| 5521 | if (localB->minnanb < localB->loop_ub_dr) { |
| 5522 | localB->loop_ub_dr = localB->minnanb; |
| 5523 | } |
| 5524 | |
| 5525 | localB->minnanb = localB->loop_ub_dr - 1; |
| 5526 | guard11 = true; |
| 5527 | } else { |
| 5528 | if (jtype->size[1] == 8) { |
| 5529 | localB->minnanb = 7; |
| 5530 | guard11 = true; |
| 5531 | } |
| 5532 | } |
| 5533 | |
| 5534 | if (guard11) { |
| 5535 | localB->loop_ub_dr = 1; |
| 5536 | do { |
| 5537 | exitg1 = 0; |
| 5538 | if (localB->loop_ub_dr - 1 <= localB->minnanb) { |
| 5539 | localB->kstr_k = localB->loop_ub_dr - 1; |
| 5540 | if (tmp_3[static_cast<uint8_T>(jtype->data[localB->kstr_k]) & 127] != |
| 5541 | tmp_3[static_cast<int32_T>(localB->b_n[localB->kstr_k])]) { |
| 5542 | exitg1 = 1; |
| 5543 | } else { |
| 5544 | localB->loop_ub_dr++; |
| 5545 | } |
| 5546 | } else { |
| 5547 | localB->b_bool_e = true; |
| 5548 | exitg1 = 1; |
| 5549 | } |
| 5550 | } while (exitg1 == 0); |
| 5551 | } |
| 5552 | |
| 5553 | if (localB->b_bool_e) { |
| 5554 | if (jtype->size[1] == 8) { |
| 5555 | localB->nmatched = 1; |
| 5556 | localB->partial_match_size_idx_1 = 8; |
| 5557 | for (localB->minnanb = 0; localB->minnanb < 8; localB->minnanb++) { |
| 5558 | localB->b_f[localB->minnanb] = localB->vstr[localB->minnanb]; |
| 5559 | } |
| 5560 | } else { |
| 5561 | localB->partial_match_size_idx_1 = 8; |
| 5562 | for (localB->minnanb = 0; localB->minnanb < 8; localB->minnanb++) { |
| 5563 | localB->partial_match_data[localB->minnanb] = localB->vstr |
| 5564 | [localB->minnanb]; |
| 5565 | } |
| 5566 | |
| 5567 | localB->matched = true; |
| 5568 | localB->nmatched = 1; |
| 5569 | guard3 = true; |
| 5570 | } |
| 5571 | } else { |
| 5572 | guard4 = true; |
| 5573 | } |
| 5574 | } else { |
| 5575 | guard4 = true; |
| 5576 | } |
| 5577 | |
| 5578 | if (guard4) { |
| 5579 | localB->matched = false; |
| 5580 | localB->nmatched = 0; |
| 5581 | guard3 = true; |
| 5582 | } |
| 5583 | |
| 5584 | if (guard3) { |
| 5585 | for (localB->minnanb = 0; localB->minnanb < 9; localB->minnanb++) { |
| 5586 | localB->b_vstr[localB->minnanb] = tmp_1[localB->minnanb]; |
| 5587 | } |
| 5588 | |
| 5589 | if (jtype->size[1] <= 9) { |
| 5590 | localB->loop_ub_dr = jtype->size[1]; |
| 5591 | for (localB->minnanb = 0; localB->minnanb < 9; localB->minnanb++) { |
| 5592 | localB->b_f[localB->minnanb] = tmp_1[localB->minnanb]; |
| 5593 | } |
| 5594 | |
| 5595 | localB->b_bool_e = false; |
| 5596 | localB->minnanb = jtype->size[1]; |
| 5597 | if (localB->minnanb >= 9) { |
| 5598 | localB->minnanb = 9; |
| 5599 | } |
| 5600 | |
| 5601 | guard11 = false; |
| 5602 | if (localB->loop_ub_dr <= localB->minnanb) { |
| 5603 | if (localB->minnanb < localB->loop_ub_dr) { |
| 5604 | localB->loop_ub_dr = localB->minnanb; |
| 5605 | } |
| 5606 | |
| 5607 | localB->minnanb = localB->loop_ub_dr - 1; |
| 5608 | guard11 = true; |
| 5609 | } else { |
| 5610 | if (jtype->size[1] == 9) { |
| 5611 | localB->minnanb = 8; |
| 5612 | guard11 = true; |
| 5613 | } |
| 5614 | } |
| 5615 | |
| 5616 | if (guard11) { |
| 5617 | localB->loop_ub_dr = 1; |
| 5618 | do { |
| 5619 | exitg1 = 0; |
| 5620 | if (localB->loop_ub_dr - 1 <= localB->minnanb) { |
| 5621 | localB->kstr_k = localB->loop_ub_dr - 1; |
| 5622 | if (tmp_3[static_cast<uint8_T>(jtype->data[localB->kstr_k]) & 127] |
| 5623 | != tmp_3[static_cast<int32_T>(localB->b_f[localB->kstr_k])]) { |
| 5624 | exitg1 = 1; |
| 5625 | } else { |
| 5626 | localB->loop_ub_dr++; |
| 5627 | } |
| 5628 | } else { |
| 5629 | localB->b_bool_e = true; |
| 5630 | exitg1 = 1; |
| 5631 | } |
| 5632 | } while (exitg1 == 0); |
| 5633 | } |
| 5634 | |
| 5635 | if (localB->b_bool_e) { |
| 5636 | if (jtype->size[1] == 9) { |
| 5637 | localB->nmatched = 1; |
| 5638 | localB->partial_match_size_idx_1 = 9; |
| 5639 | for (localB->minnanb = 0; localB->minnanb < 9; localB->minnanb++) { |
| 5640 | localB->b_f[localB->minnanb] = localB->b_vstr[localB->minnanb]; |
| 5641 | } |
| 5642 | } else { |
| 5643 | if (!localB->matched) { |
| 5644 | localB->partial_match_size_idx_1 = 9; |
| 5645 | for (localB->minnanb = 0; localB->minnanb < 9; localB->minnanb++) { |
| 5646 | localB->partial_match_data[localB->minnanb] = localB-> |
| 5647 | b_vstr[localB->minnanb]; |
| 5648 | } |
| 5649 | } |
| 5650 | |
| 5651 | localB->matched = true; |
| 5652 | localB->nmatched++; |
| 5653 | guard2 = true; |
| 5654 | } |
| 5655 | } else { |
| 5656 | guard2 = true; |
| 5657 | } |
| 5658 | } else { |
| 5659 | guard2 = true; |
| 5660 | } |
| 5661 | } |
| 5662 | |
| 5663 | if (guard2) { |
| 5664 | for (localB->minnanb = 0; localB->minnanb < 5; localB->minnanb++) { |
| 5665 | localB->c_vstr[localB->minnanb] = tmp_2[localB->minnanb]; |
| 5666 | } |
| 5667 | |
| 5668 | if (jtype->size[1] <= 5) { |
| 5669 | localB->loop_ub_dr = jtype->size[1]; |
| 5670 | for (localB->minnanb = 0; localB->minnanb < 5; localB->minnanb++) { |
| 5671 | localB->b_l[localB->minnanb] = tmp_2[localB->minnanb]; |
| 5672 | } |
| 5673 | |
| 5674 | localB->b_bool_e = false; |
| 5675 | localB->minnanb = jtype->size[1]; |
| 5676 | if (localB->minnanb >= 5) { |
| 5677 | localB->minnanb = 5; |
| 5678 | } |
| 5679 | |
| 5680 | guard11 = false; |
| 5681 | if (localB->loop_ub_dr <= localB->minnanb) { |
| 5682 | if (localB->minnanb < localB->loop_ub_dr) { |
| 5683 | localB->loop_ub_dr = localB->minnanb; |
| 5684 | } |
| 5685 | |
| 5686 | localB->minnanb = localB->loop_ub_dr - 1; |
| 5687 | guard11 = true; |
| 5688 | } else { |
| 5689 | if (jtype->size[1] == 5) { |
| 5690 | localB->minnanb = 4; |
| 5691 | guard11 = true; |
| 5692 | } |
| 5693 | } |
| 5694 | |
| 5695 | if (guard11) { |
| 5696 | localB->loop_ub_dr = 1; |
| 5697 | do { |
| 5698 | exitg1 = 0; |
| 5699 | if (localB->loop_ub_dr - 1 <= localB->minnanb) { |
| 5700 | localB->kstr_k = localB->loop_ub_dr - 1; |
| 5701 | if (tmp_3[static_cast<uint8_T>(jtype->data[localB->kstr_k]) & 127] |
| 5702 | != tmp_3[static_cast<int32_T>(localB->b_l[localB->kstr_k])]) { |
| 5703 | exitg1 = 1; |
| 5704 | } else { |
| 5705 | localB->loop_ub_dr++; |
| 5706 | } |
| 5707 | } else { |
| 5708 | localB->b_bool_e = true; |
| 5709 | exitg1 = 1; |
| 5710 | } |
| 5711 | } while (exitg1 == 0); |
| 5712 | } |
| 5713 | |
| 5714 | if (localB->b_bool_e) { |
| 5715 | if (jtype->size[1] == 5) { |
| 5716 | localB->nmatched = 1; |
| 5717 | localB->partial_match_size_idx_1 = 5; |
| 5718 | for (localB->minnanb = 0; localB->minnanb < 5; localB->minnanb++) { |
| 5719 | localB->b_f[localB->minnanb] = localB->c_vstr[localB->minnanb]; |
| 5720 | } |
| 5721 | } else { |
| 5722 | if (!localB->matched) { |
| 5723 | localB->partial_match_size_idx_1 = 5; |
| 5724 | for (localB->minnanb = 0; localB->minnanb < 5; localB->minnanb++) { |
| 5725 | localB->partial_match_data[localB->minnanb] = localB-> |
| 5726 | c_vstr[localB->minnanb]; |
| 5727 | } |
| 5728 | } |
| 5729 | |
| 5730 | localB->nmatched++; |
| 5731 | guard1 = true; |
| 5732 | } |
| 5733 | } else { |
| 5734 | guard1 = true; |
| 5735 | } |
| 5736 | } else { |
| 5737 | guard1 = true; |
| 5738 | } |
| 5739 | } |
| 5740 | |
| 5741 | if (guard1) { |
| 5742 | if (localB->nmatched == 0) { |
| 5743 | localB->partial_match_size_idx_1 = 0; |
| 5744 | } else { |
| 5745 | localB->loop_ub_dr = localB->partial_match_size_idx_1 - 1; |
| 5746 | if (0 <= localB->loop_ub_dr) { |
| 5747 | memcpy(&localB->b_f[0], &localB->partial_match_data[0], |
| 5748 | (localB->loop_ub_dr + 1) * sizeof(char_T)); |
| 5749 | } |
| 5750 | } |
| 5751 | } |
| 5752 | |
| 5753 | if ((localB->nmatched == 0) || ((jtype->size[1] == 0) != |
| 5754 | (localB->partial_match_size_idx_1 == 0))) { |
| 5755 | localB->partial_match_size_idx_1 = 0; |
| 5756 | } else { |
| 5757 | localB->loop_ub_dr = localB->partial_match_size_idx_1 - 1; |
| 5758 | if (0 <= localB->loop_ub_dr) { |
| 5759 | memcpy(&localB->partial_match_data[0], &localB->b_f[0], |
| 5760 | (localB->loop_ub_dr + 1) * sizeof(char_T)); |
| 5761 | } |
| 5762 | } |
| 5763 | |
| 5764 | localB->minnanb = obj->Type->size[0] * obj->Type->size[1]; |
| 5765 | obj->Type->size[0] = 1; |
| 5766 | obj->Type->size[1] = localB->partial_match_size_idx_1; |
| 5767 | cartes_emxEnsureCapacity_char_T(obj->Type, localB->minnanb, localB); |
| 5768 | localB->loop_ub_dr = localB->partial_match_size_idx_1 - 1; |
| 5769 | for (localB->minnanb = 0; localB->minnanb <= localB->loop_ub_dr; |
| 5770 | localB->minnanb++) { |
| 5771 | obj->Type->data[localB->minnanb] = localB->partial_match_data |
| 5772 | [localB->minnanb]; |
| 5773 | } |
| 5774 | |
| 5775 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 5776 | localB->minnanb = switch_expression->size[0] * switch_expression->size[1]; |
| 5777 | switch_expression->size[0] = 1; |
| 5778 | switch_expression->size[1] = obj->Type->size[1]; |
| 5779 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->minnanb, localB); |
| 5780 | localB->loop_ub_dr = obj->Type->size[0] * obj->Type->size[1] - 1; |
| 5781 | for (localB->minnanb = 0; localB->minnanb <= localB->loop_ub_dr; |
| 5782 | localB->minnanb++) { |
| 5783 | switch_expression->data[localB->minnanb] = obj->Type->data[localB->minnanb]; |
| 5784 | } |
| 5785 | |
| 5786 | for (localB->minnanb = 0; localB->minnanb < 8; localB->minnanb++) { |
| 5787 | localB->b_n[localB->minnanb] = tmp_0[localB->minnanb]; |
| 5788 | } |
| 5789 | |
| 5790 | localB->b_bool_e = false; |
| 5791 | if (switch_expression->size[1] == 8) { |
| 5792 | localB->loop_ub_dr = 1; |
| 5793 | do { |
| 5794 | exitg1 = 0; |
| 5795 | if (localB->loop_ub_dr - 1 < 8) { |
| 5796 | localB->kstr_k = localB->loop_ub_dr - 1; |
| 5797 | if (switch_expression->data[localB->kstr_k] != localB->b_n |
| 5798 | [localB->kstr_k]) { |
| 5799 | exitg1 = 1; |
| 5800 | } else { |
| 5801 | localB->loop_ub_dr++; |
| 5802 | } |
| 5803 | } else { |
| 5804 | localB->b_bool_e = true; |
| 5805 | exitg1 = 1; |
| 5806 | } |
| 5807 | } while (exitg1 == 0); |
| 5808 | } |
| 5809 | |
| 5810 | if (localB->b_bool_e) { |
| 5811 | localB->minnanb = 0; |
| 5812 | } else { |
| 5813 | for (localB->minnanb = 0; localB->minnanb < 9; localB->minnanb++) { |
| 5814 | localB->b_f[localB->minnanb] = tmp_1[localB->minnanb]; |
| 5815 | } |
| 5816 | |
| 5817 | localB->b_bool_e = false; |
| 5818 | if (switch_expression->size[1] == 9) { |
| 5819 | localB->loop_ub_dr = 1; |
| 5820 | do { |
| 5821 | exitg1 = 0; |
| 5822 | if (localB->loop_ub_dr - 1 < 9) { |
| 5823 | localB->kstr_k = localB->loop_ub_dr - 1; |
| 5824 | if (switch_expression->data[localB->kstr_k] != localB->b_f |
| 5825 | [localB->kstr_k]) { |
| 5826 | exitg1 = 1; |
| 5827 | } else { |
| 5828 | localB->loop_ub_dr++; |
| 5829 | } |
| 5830 | } else { |
| 5831 | localB->b_bool_e = true; |
| 5832 | exitg1 = 1; |
| 5833 | } |
| 5834 | } while (exitg1 == 0); |
| 5835 | } |
| 5836 | |
| 5837 | if (localB->b_bool_e) { |
| 5838 | localB->minnanb = 1; |
| 5839 | } else { |
| 5840 | localB->minnanb = -1; |
| 5841 | } |
| 5842 | } |
| 5843 | |
| 5844 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 5845 | switch (localB->minnanb) { |
| 5846 | case 0: |
| 5847 | localB->iv3[0] = 0; |
| 5848 | localB->iv3[1] = 0; |
| 5849 | localB->iv3[2] = 1; |
| 5850 | localB->iv3[3] = 0; |
| 5851 | localB->iv3[4] = 0; |
| 5852 | localB->iv3[5] = 0; |
| 5853 | for (localB->minnanb = 0; localB->minnanb < 6; localB->minnanb++) { |
| 5854 | localB->msubspace_data_af[localB->minnanb] = localB->iv3[localB->minnanb]; |
| 5855 | } |
| 5856 | |
| 5857 | localB->poslim_data_p[0] = -3.1415926535897931; |
| 5858 | localB->poslim_data_p[1] = 3.1415926535897931; |
| 5859 | obj->VelocityNumber = 1.0; |
| 5860 | obj->PositionNumber = 1.0; |
| 5861 | obj->JointAxisInternal[0] = 0.0; |
| 5862 | obj->JointAxisInternal[1] = 0.0; |
| 5863 | obj->JointAxisInternal[2] = 1.0; |
| 5864 | break; |
| 5865 | |
| 5866 | case 1: |
| 5867 | localB->iv3[0] = 0; |
| 5868 | localB->iv3[1] = 0; |
| 5869 | localB->iv3[2] = 0; |
| 5870 | localB->iv3[3] = 0; |
| 5871 | localB->iv3[4] = 0; |
| 5872 | localB->iv3[5] = 1; |
| 5873 | for (localB->minnanb = 0; localB->minnanb < 6; localB->minnanb++) { |
| 5874 | localB->msubspace_data_af[localB->minnanb] = localB->iv3[localB->minnanb]; |
| 5875 | } |
| 5876 | |
| 5877 | localB->poslim_data_p[0] = -0.5; |
| 5878 | localB->poslim_data_p[1] = 0.5; |
| 5879 | obj->VelocityNumber = 1.0; |
| 5880 | obj->PositionNumber = 1.0; |
| 5881 | obj->JointAxisInternal[0] = 0.0; |
| 5882 | obj->JointAxisInternal[1] = 0.0; |
| 5883 | obj->JointAxisInternal[2] = 1.0; |
| 5884 | break; |
| 5885 | |
| 5886 | default: |
| 5887 | for (localB->minnanb = 0; localB->minnanb < 6; localB->minnanb++) { |
| 5888 | localB->msubspace_data_af[localB->minnanb] = 0; |
| 5889 | } |
| 5890 | |
| 5891 | localB->poslim_data_p[0] = 0.0; |
| 5892 | localB->poslim_data_p[1] = 0.0; |
| 5893 | obj->VelocityNumber = 0.0; |
| 5894 | obj->PositionNumber = 0.0; |
| 5895 | obj->JointAxisInternal[0] = 0.0; |
| 5896 | obj->JointAxisInternal[1] = 0.0; |
| 5897 | obj->JointAxisInternal[2] = 0.0; |
| 5898 | break; |
| 5899 | } |
| 5900 | |
| 5901 | localB->minnanb = obj->MotionSubspace->size[0] * obj->MotionSubspace->size[1]; |
| 5902 | obj->MotionSubspace->size[0] = 6; |
| 5903 | obj->MotionSubspace->size[1] = 1; |
| 5904 | cartes_emxEnsureCapacity_real_T(obj->MotionSubspace, localB->minnanb, localB); |
| 5905 | for (localB->minnanb = 0; localB->minnanb < 6; localB->minnanb++) { |
| 5906 | obj->MotionSubspace->data[localB->minnanb] = localB-> |
| 5907 | msubspace_data_af[localB->minnanb]; |
| 5908 | } |
| 5909 | |
| 5910 | localB->minnanb = obj->PositionLimitsInternal->size[0] * |
| 5911 | obj->PositionLimitsInternal->size[1]; |
| 5912 | obj->PositionLimitsInternal->size[0] = 1; |
| 5913 | obj->PositionLimitsInternal->size[1] = 2; |
| 5914 | cartes_emxEnsureCapacity_real_T(obj->PositionLimitsInternal, localB->minnanb, |
| 5915 | localB); |
| 5916 | for (localB->minnanb = 0; localB->minnanb < 2; localB->minnanb++) { |
| 5917 | obj->PositionLimitsInternal->data[localB->minnanb] = localB-> |
| 5918 | poslim_data_p[localB->minnanb]; |
| 5919 | } |
| 5920 | |
| 5921 | localB->minnanb = obj->HomePositionInternal->size[0]; |
| 5922 | obj->HomePositionInternal->size[0] = 1; |
| 5923 | cartes_emxEnsureCapacity_real_T(obj->HomePositionInternal, localB->minnanb, |
| 5924 | localB); |
| 5925 | for (localB->minnanb = 0; localB->minnanb < 1; localB->minnanb++) { |
| 5926 | obj->HomePositionInternal->data[0] = 0.0; |
| 5927 | } |
| 5928 | |
| 5929 | return b_obj; |
| 5930 | } |
| 5931 | |
| 5932 | static void cartesian_trajec_emxFree_real_T(emxArray_real_T_cartesian_tra_T |
| 5933 | **pEmxArray) |
| 5934 | { |
| 5935 | if (*pEmxArray != (emxArray_real_T_cartesian_tra_T *)NULL) { |
| 5936 | if (((*pEmxArray)->data != (real_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 5937 | free((*pEmxArray)->data); |
| 5938 | } |
| 5939 | |
| 5940 | free((*pEmxArray)->size); |
| 5941 | free(*pEmxArray); |
| 5942 | *pEmxArray = (emxArray_real_T_cartesian_tra_T *)NULL; |
| 5943 | } |
| 5944 | } |
| 5945 | |
| 5946 | static w_robotics_manip_internal_Rig_T *cartesian_trajec_RigidBody_copy(const |
| 5947 | v_robotics_manip_internal_Rig_T *obj, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 5948 | c_rigidBodyJoint_cartesian_tr_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 5949 | *iobj_2, B_MATLABSystem_cartesian_traj_T *localB) |
| 5950 | { |
| 5951 | w_robotics_manip_internal_Rig_T *newbody; |
| 5952 | c_rigidBodyJoint_cartesian_tr_T *newjoint; |
| 5953 | emxArray_char_T_cartesian_tra_T *jtype; |
| 5954 | emxArray_char_T_cartesian_tra_T *jname; |
| 5955 | emxArray_real_T_cartesian_tra_T *obj_0; |
| 5956 | emxArray_real_T_cartesian_tra_T *obj_1; |
| 5957 | emxArray_real_T_cartesian_tra_T *obj_2; |
| 5958 | static const int8_T tmp[16] = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 |
| 5959 | }; |
| 5960 | |
| 5961 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 5962 | |
| 5963 | static const char_T tmp_1[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 5964 | |
| 5965 | static const char_T tmp_2[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 5966 | |
| 5967 | int32_T exitg1; |
| 5968 | cartesian_trajec_emxInit_char_T(&jtype, 2, localB); |
| 5969 | localB->b_kstr_jz = jtype->size[0] * jtype->size[1]; |
| 5970 | jtype->size[0] = 1; |
| 5971 | jtype->size[1] = obj->NameInternal->size[1]; |
| 5972 | cartes_emxEnsureCapacity_char_T(jtype, localB->b_kstr_jz, localB); |
| 5973 | localB->loop_ub_l = obj->NameInternal->size[0] * obj->NameInternal->size[1] - |
| 5974 | 1; |
| 5975 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 5976 | localB->b_kstr_jz++) { |
| 5977 | jtype->data[localB->b_kstr_jz] = obj->NameInternal->data[localB->b_kstr_jz]; |
| 5978 | } |
| 5979 | |
| 5980 | newbody = iobj_2; |
| 5981 | localB->b_kstr_jz = iobj_2->NameInternal->size[0] * iobj_2->NameInternal-> |
| 5982 | size[1]; |
| 5983 | iobj_2->NameInternal->size[0] = 1; |
| 5984 | iobj_2->NameInternal->size[1] = jtype->size[1]; |
| 5985 | cartes_emxEnsureCapacity_char_T(iobj_2->NameInternal, localB->b_kstr_jz, |
| 5986 | localB); |
| 5987 | localB->loop_ub_l = jtype->size[0] * jtype->size[1] - 1; |
| 5988 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 5989 | localB->b_kstr_jz++) { |
| 5990 | iobj_2->NameInternal->data[localB->b_kstr_jz] = jtype->data |
| 5991 | [localB->b_kstr_jz]; |
| 5992 | } |
| 5993 | |
| 5994 | iobj_0->InTree = false; |
| 5995 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 5996 | iobj_0->JointToParentTransform[localB->b_kstr_jz] = tmp[localB->b_kstr_jz]; |
| 5997 | } |
| 5998 | |
| 5999 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 6000 | iobj_0->ChildToJointTransform[localB->b_kstr_jz] = tmp[localB->b_kstr_jz]; |
| 6001 | } |
| 6002 | |
| 6003 | localB->b_kstr_jz = iobj_0->NameInternal->size[0] * iobj_0->NameInternal-> |
| 6004 | size[1]; |
| 6005 | iobj_0->NameInternal->size[0] = 1; |
| 6006 | iobj_0->NameInternal->size[1] = jtype->size[1] + 4; |
| 6007 | cartes_emxEnsureCapacity_char_T(iobj_0->NameInternal, localB->b_kstr_jz, |
| 6008 | localB); |
| 6009 | localB->loop_ub_l = jtype->size[0] * jtype->size[1]; |
| 6010 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6011 | localB->b_kstr_jz++) { |
| 6012 | iobj_0->NameInternal->data[localB->b_kstr_jz] = jtype->data |
| 6013 | [localB->b_kstr_jz]; |
| 6014 | } |
| 6015 | |
| 6016 | iobj_0->NameInternal->data[localB->loop_ub_l] = '_'; |
| 6017 | iobj_0->NameInternal->data[localB->loop_ub_l + 1] = 'j'; |
| 6018 | iobj_0->NameInternal->data[localB->loop_ub_l + 2] = 'n'; |
| 6019 | iobj_0->NameInternal->data[localB->loop_ub_l + 3] = 't'; |
| 6020 | localB->b_kstr_jz = iobj_0->Type->size[0] * iobj_0->Type->size[1]; |
| 6021 | iobj_0->Type->size[0] = 1; |
| 6022 | iobj_0->Type->size[1] = 5; |
| 6023 | cartes_emxEnsureCapacity_char_T(iobj_0->Type, localB->b_kstr_jz, localB); |
| 6024 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 5; localB->b_kstr_jz++) { |
| 6025 | iobj_0->Type->data[localB->b_kstr_jz] = tmp_0[localB->b_kstr_jz]; |
| 6026 | } |
| 6027 | |
| 6028 | localB->b_kstr_jz = jtype->size[0] * jtype->size[1]; |
| 6029 | jtype->size[0] = 1; |
| 6030 | jtype->size[1] = iobj_0->Type->size[1]; |
| 6031 | cartes_emxEnsureCapacity_char_T(jtype, localB->b_kstr_jz, localB); |
| 6032 | localB->loop_ub_l = iobj_0->Type->size[0] * iobj_0->Type->size[1] - 1; |
| 6033 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6034 | localB->b_kstr_jz++) { |
| 6035 | jtype->data[localB->b_kstr_jz] = iobj_0->Type->data[localB->b_kstr_jz]; |
| 6036 | } |
| 6037 | |
| 6038 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 8; localB->b_kstr_jz++) { |
| 6039 | localB->b_ch[localB->b_kstr_jz] = tmp_1[localB->b_kstr_jz]; |
| 6040 | } |
| 6041 | |
| 6042 | localB->b_bool_g = false; |
| 6043 | if (jtype->size[1] == 8) { |
| 6044 | localB->b_kstr_jz = 1; |
| 6045 | do { |
| 6046 | exitg1 = 0; |
| 6047 | if (localB->b_kstr_jz - 1 < 8) { |
| 6048 | localB->loop_ub_l = localB->b_kstr_jz - 1; |
| 6049 | if (jtype->data[localB->loop_ub_l] != localB->b_ch[localB->loop_ub_l]) { |
| 6050 | exitg1 = 1; |
| 6051 | } else { |
| 6052 | localB->b_kstr_jz++; |
| 6053 | } |
| 6054 | } else { |
| 6055 | localB->b_bool_g = true; |
| 6056 | exitg1 = 1; |
| 6057 | } |
| 6058 | } while (exitg1 == 0); |
| 6059 | } |
| 6060 | |
| 6061 | if (localB->b_bool_g) { |
| 6062 | localB->b_kstr_jz = 0; |
| 6063 | } else { |
| 6064 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 9; localB->b_kstr_jz++) { |
| 6065 | localB->b_c[localB->b_kstr_jz] = tmp_2[localB->b_kstr_jz]; |
| 6066 | } |
| 6067 | |
| 6068 | localB->b_bool_g = false; |
| 6069 | if (jtype->size[1] == 9) { |
| 6070 | localB->b_kstr_jz = 1; |
| 6071 | do { |
| 6072 | exitg1 = 0; |
| 6073 | if (localB->b_kstr_jz - 1 < 9) { |
| 6074 | localB->loop_ub_l = localB->b_kstr_jz - 1; |
| 6075 | if (jtype->data[localB->loop_ub_l] != localB->b_c[localB->loop_ub_l]) |
| 6076 | { |
| 6077 | exitg1 = 1; |
| 6078 | } else { |
| 6079 | localB->b_kstr_jz++; |
| 6080 | } |
| 6081 | } else { |
| 6082 | localB->b_bool_g = true; |
| 6083 | exitg1 = 1; |
| 6084 | } |
| 6085 | } while (exitg1 == 0); |
| 6086 | } |
| 6087 | |
| 6088 | if (localB->b_bool_g) { |
| 6089 | localB->b_kstr_jz = 1; |
| 6090 | } else { |
| 6091 | localB->b_kstr_jz = -1; |
| 6092 | } |
| 6093 | } |
| 6094 | |
| 6095 | switch (localB->b_kstr_jz) { |
| 6096 | case 0: |
| 6097 | localB->iv2[0] = 0; |
| 6098 | localB->iv2[1] = 0; |
| 6099 | localB->iv2[2] = 1; |
| 6100 | localB->iv2[3] = 0; |
| 6101 | localB->iv2[4] = 0; |
| 6102 | localB->iv2[5] = 0; |
| 6103 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 6; localB->b_kstr_jz++) { |
| 6104 | localB->msubspace_data_d[localB->b_kstr_jz] = localB->iv2 |
| 6105 | [localB->b_kstr_jz]; |
| 6106 | } |
| 6107 | |
| 6108 | localB->poslim_data_ct[0] = -3.1415926535897931; |
| 6109 | localB->poslim_data_ct[1] = 3.1415926535897931; |
| 6110 | iobj_0->VelocityNumber = 1.0; |
| 6111 | iobj_0->PositionNumber = 1.0; |
| 6112 | iobj_0->JointAxisInternal[0] = 0.0; |
| 6113 | iobj_0->JointAxisInternal[1] = 0.0; |
| 6114 | iobj_0->JointAxisInternal[2] = 1.0; |
| 6115 | break; |
| 6116 | |
| 6117 | case 1: |
| 6118 | localB->iv2[0] = 0; |
| 6119 | localB->iv2[1] = 0; |
| 6120 | localB->iv2[2] = 0; |
| 6121 | localB->iv2[3] = 0; |
| 6122 | localB->iv2[4] = 0; |
| 6123 | localB->iv2[5] = 1; |
| 6124 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 6; localB->b_kstr_jz++) { |
| 6125 | localB->msubspace_data_d[localB->b_kstr_jz] = localB->iv2 |
| 6126 | [localB->b_kstr_jz]; |
| 6127 | } |
| 6128 | |
| 6129 | localB->poslim_data_ct[0] = -0.5; |
| 6130 | localB->poslim_data_ct[1] = 0.5; |
| 6131 | iobj_0->VelocityNumber = 1.0; |
| 6132 | iobj_0->PositionNumber = 1.0; |
| 6133 | iobj_0->JointAxisInternal[0] = 0.0; |
| 6134 | iobj_0->JointAxisInternal[1] = 0.0; |
| 6135 | iobj_0->JointAxisInternal[2] = 1.0; |
| 6136 | break; |
| 6137 | |
| 6138 | default: |
| 6139 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 6; localB->b_kstr_jz++) { |
| 6140 | localB->msubspace_data_d[localB->b_kstr_jz] = 0; |
| 6141 | } |
| 6142 | |
| 6143 | localB->poslim_data_ct[0] = 0.0; |
| 6144 | localB->poslim_data_ct[1] = 0.0; |
| 6145 | iobj_0->VelocityNumber = 0.0; |
| 6146 | iobj_0->PositionNumber = 0.0; |
| 6147 | iobj_0->JointAxisInternal[0] = 0.0; |
| 6148 | iobj_0->JointAxisInternal[1] = 0.0; |
| 6149 | iobj_0->JointAxisInternal[2] = 0.0; |
| 6150 | break; |
| 6151 | } |
| 6152 | |
| 6153 | localB->b_kstr_jz = iobj_0->MotionSubspace->size[0] * iobj_0-> |
| 6154 | MotionSubspace->size[1]; |
| 6155 | iobj_0->MotionSubspace->size[0] = 6; |
| 6156 | iobj_0->MotionSubspace->size[1] = 1; |
| 6157 | cartes_emxEnsureCapacity_real_T(iobj_0->MotionSubspace, localB->b_kstr_jz, |
| 6158 | localB); |
| 6159 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 6; localB->b_kstr_jz++) { |
| 6160 | iobj_0->MotionSubspace->data[localB->b_kstr_jz] = localB-> |
| 6161 | msubspace_data_d[localB->b_kstr_jz]; |
| 6162 | } |
| 6163 | |
| 6164 | localB->b_kstr_jz = iobj_0->PositionLimitsInternal->size[0] * |
| 6165 | iobj_0->PositionLimitsInternal->size[1]; |
| 6166 | iobj_0->PositionLimitsInternal->size[0] = 1; |
| 6167 | iobj_0->PositionLimitsInternal->size[1] = 2; |
| 6168 | cartes_emxEnsureCapacity_real_T(iobj_0->PositionLimitsInternal, |
| 6169 | localB->b_kstr_jz, localB); |
| 6170 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 2; localB->b_kstr_jz++) { |
| 6171 | iobj_0->PositionLimitsInternal->data[localB->b_kstr_jz] = |
| 6172 | localB->poslim_data_ct[localB->b_kstr_jz]; |
| 6173 | } |
| 6174 | |
| 6175 | localB->b_kstr_jz = iobj_0->HomePositionInternal->size[0]; |
| 6176 | iobj_0->HomePositionInternal->size[0] = 1; |
| 6177 | cartes_emxEnsureCapacity_real_T(iobj_0->HomePositionInternal, |
| 6178 | localB->b_kstr_jz, localB); |
| 6179 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 1; localB->b_kstr_jz++) { |
| 6180 | iobj_0->HomePositionInternal->data[0] = 0.0; |
| 6181 | } |
| 6182 | |
| 6183 | iobj_2->JointInternal = iobj_0; |
| 6184 | iobj_2->Index = -1.0; |
| 6185 | iobj_2->ParentIndex = -1.0; |
| 6186 | localB->b_kstr_jz = jtype->size[0] * jtype->size[1]; |
| 6187 | jtype->size[0] = 1; |
| 6188 | jtype->size[1] = obj->JointInternal.Type->size[1]; |
| 6189 | cartes_emxEnsureCapacity_char_T(jtype, localB->b_kstr_jz, localB); |
| 6190 | localB->loop_ub_l = obj->JointInternal.Type->size[0] * obj-> |
| 6191 | JointInternal.Type->size[1] - 1; |
| 6192 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6193 | localB->b_kstr_jz++) { |
| 6194 | jtype->data[localB->b_kstr_jz] = obj->JointInternal.Type->data |
| 6195 | [localB->b_kstr_jz]; |
| 6196 | } |
| 6197 | |
| 6198 | cartesian_trajec_emxInit_char_T(&jname, 2, localB); |
| 6199 | localB->b_kstr_jz = jname->size[0] * jname->size[1]; |
| 6200 | jname->size[0] = 1; |
| 6201 | jname->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 6202 | cartes_emxEnsureCapacity_char_T(jname, localB->b_kstr_jz, localB); |
| 6203 | localB->loop_ub_l = obj->JointInternal.NameInternal->size[0] * |
| 6204 | obj->JointInternal.NameInternal->size[1] - 1; |
| 6205 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6206 | localB->b_kstr_jz++) { |
| 6207 | jname->data[localB->b_kstr_jz] = obj->JointInternal.NameInternal-> |
| 6208 | data[localB->b_kstr_jz]; |
| 6209 | } |
| 6210 | |
| 6211 | newjoint = c_rigidBodyJoint_rigidBodyJoint(iobj_1, jname, jtype, localB); |
| 6212 | localB->b_kstr_jz = jtype->size[0] * jtype->size[1]; |
| 6213 | jtype->size[0] = 1; |
| 6214 | jtype->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 6215 | cartes_emxEnsureCapacity_char_T(jtype, localB->b_kstr_jz, localB); |
| 6216 | localB->loop_ub_l = obj->JointInternal.NameInternal->size[0] * |
| 6217 | obj->JointInternal.NameInternal->size[1] - 1; |
| 6218 | cartesian_trajec_emxFree_char_T(&jname); |
| 6219 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6220 | localB->b_kstr_jz++) { |
| 6221 | jtype->data[localB->b_kstr_jz] = obj->JointInternal.NameInternal-> |
| 6222 | data[localB->b_kstr_jz]; |
| 6223 | } |
| 6224 | |
| 6225 | if (jtype->size[1] != 0) { |
| 6226 | localB->b_kstr_jz = jtype->size[0] * jtype->size[1]; |
| 6227 | jtype->size[0] = 1; |
| 6228 | jtype->size[1] = obj->JointInternal.NameInternal->size[1]; |
| 6229 | cartes_emxEnsureCapacity_char_T(jtype, localB->b_kstr_jz, localB); |
| 6230 | localB->loop_ub_l = obj->JointInternal.NameInternal->size[0] * |
| 6231 | obj->JointInternal.NameInternal->size[1] - 1; |
| 6232 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6233 | localB->b_kstr_jz++) { |
| 6234 | jtype->data[localB->b_kstr_jz] = obj->JointInternal.NameInternal-> |
| 6235 | data[localB->b_kstr_jz]; |
| 6236 | } |
| 6237 | |
| 6238 | if (!newjoint->InTree) { |
| 6239 | localB->b_kstr_jz = newjoint->NameInternal->size[0] * |
| 6240 | newjoint->NameInternal->size[1]; |
| 6241 | newjoint->NameInternal->size[0] = 1; |
| 6242 | newjoint->NameInternal->size[1] = jtype->size[1]; |
| 6243 | cartes_emxEnsureCapacity_char_T(newjoint->NameInternal, localB->b_kstr_jz, |
| 6244 | localB); |
| 6245 | localB->loop_ub_l = jtype->size[0] * jtype->size[1] - 1; |
| 6246 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz <= localB->loop_ub_l; |
| 6247 | localB->b_kstr_jz++) { |
| 6248 | newjoint->NameInternal->data[localB->b_kstr_jz] = jtype->data |
| 6249 | [localB->b_kstr_jz]; |
| 6250 | } |
| 6251 | } |
| 6252 | } |
| 6253 | |
| 6254 | cartesian_trajec_emxFree_char_T(&jtype); |
| 6255 | cartesian_trajec_emxInit_real_T(&obj_0, 1, localB); |
| 6256 | localB->loop_ub_l = obj->JointInternal.PositionLimitsInternal->size[0] * |
| 6257 | obj->JointInternal.PositionLimitsInternal->size[1]; |
| 6258 | localB->b_kstr_jz = newjoint->PositionLimitsInternal->size[0] * |
| 6259 | newjoint->PositionLimitsInternal->size[1]; |
| 6260 | newjoint->PositionLimitsInternal->size[0] = |
| 6261 | obj->JointInternal.PositionLimitsInternal->size[0]; |
| 6262 | newjoint->PositionLimitsInternal->size[1] = 2; |
| 6263 | cartes_emxEnsureCapacity_real_T(newjoint->PositionLimitsInternal, |
| 6264 | localB->b_kstr_jz, localB); |
| 6265 | localB->b_kstr_jz = obj_0->size[0]; |
| 6266 | obj_0->size[0] = localB->loop_ub_l; |
| 6267 | cartes_emxEnsureCapacity_real_T(obj_0, localB->b_kstr_jz, localB); |
| 6268 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6269 | localB->b_kstr_jz++) { |
| 6270 | obj_0->data[localB->b_kstr_jz] = obj-> |
| 6271 | JointInternal.PositionLimitsInternal->data[localB->b_kstr_jz]; |
| 6272 | } |
| 6273 | |
| 6274 | localB->loop_ub_l = obj_0->size[0]; |
| 6275 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6276 | localB->b_kstr_jz++) { |
| 6277 | newjoint->PositionLimitsInternal->data[localB->b_kstr_jz] = obj_0-> |
| 6278 | data[localB->b_kstr_jz]; |
| 6279 | } |
| 6280 | |
| 6281 | cartesian_trajec_emxFree_real_T(&obj_0); |
| 6282 | cartesian_trajec_emxInit_real_T(&obj_1, 1, localB); |
| 6283 | localB->b_kstr_jz = obj_1->size[0]; |
| 6284 | obj_1->size[0] = obj->JointInternal.HomePositionInternal->size[0]; |
| 6285 | cartes_emxEnsureCapacity_real_T(obj_1, localB->b_kstr_jz, localB); |
| 6286 | localB->loop_ub_l = obj->JointInternal.HomePositionInternal->size[0]; |
| 6287 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6288 | localB->b_kstr_jz++) { |
| 6289 | obj_1->data[localB->b_kstr_jz] = obj-> |
| 6290 | JointInternal.HomePositionInternal->data[localB->b_kstr_jz]; |
| 6291 | } |
| 6292 | |
| 6293 | localB->b_kstr_jz = newjoint->HomePositionInternal->size[0]; |
| 6294 | newjoint->HomePositionInternal->size[0] = obj_1->size[0]; |
| 6295 | cartes_emxEnsureCapacity_real_T(newjoint->HomePositionInternal, |
| 6296 | localB->b_kstr_jz, localB); |
| 6297 | localB->loop_ub_l = obj_1->size[0]; |
| 6298 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6299 | localB->b_kstr_jz++) { |
| 6300 | newjoint->HomePositionInternal->data[localB->b_kstr_jz] = obj_1->data |
| 6301 | [localB->b_kstr_jz]; |
| 6302 | } |
| 6303 | |
| 6304 | cartesian_trajec_emxFree_real_T(&obj_1); |
| 6305 | localB->obj_idx_0 = obj->JointInternal.JointAxisInternal[0]; |
| 6306 | localB->obj_idx_1 = obj->JointInternal.JointAxisInternal[1]; |
| 6307 | localB->obj_idx_2 = obj->JointInternal.JointAxisInternal[2]; |
| 6308 | newjoint->JointAxisInternal[0] = localB->obj_idx_0; |
| 6309 | newjoint->JointAxisInternal[1] = localB->obj_idx_1; |
| 6310 | newjoint->JointAxisInternal[2] = localB->obj_idx_2; |
| 6311 | cartesian_trajec_emxInit_real_T(&obj_2, 1, localB); |
| 6312 | localB->loop_ub_l = obj->JointInternal.MotionSubspace->size[0] * |
| 6313 | obj->JointInternal.MotionSubspace->size[1]; |
| 6314 | localB->b_kstr_jz = newjoint->MotionSubspace->size[0] * |
| 6315 | newjoint->MotionSubspace->size[1]; |
| 6316 | newjoint->MotionSubspace->size[0] = 6; |
| 6317 | newjoint->MotionSubspace->size[1] = obj->JointInternal.MotionSubspace->size[1]; |
| 6318 | cartes_emxEnsureCapacity_real_T(newjoint->MotionSubspace, localB->b_kstr_jz, |
| 6319 | localB); |
| 6320 | localB->b_kstr_jz = obj_2->size[0]; |
| 6321 | obj_2->size[0] = localB->loop_ub_l; |
| 6322 | cartes_emxEnsureCapacity_real_T(obj_2, localB->b_kstr_jz, localB); |
| 6323 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6324 | localB->b_kstr_jz++) { |
| 6325 | obj_2->data[localB->b_kstr_jz] = obj->JointInternal.MotionSubspace-> |
| 6326 | data[localB->b_kstr_jz]; |
| 6327 | } |
| 6328 | |
| 6329 | localB->loop_ub_l = obj_2->size[0]; |
| 6330 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < localB->loop_ub_l; |
| 6331 | localB->b_kstr_jz++) { |
| 6332 | newjoint->MotionSubspace->data[localB->b_kstr_jz] = obj_2->data |
| 6333 | [localB->b_kstr_jz]; |
| 6334 | } |
| 6335 | |
| 6336 | cartesian_trajec_emxFree_real_T(&obj_2); |
| 6337 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 6338 | localB->obj[localB->b_kstr_jz] = obj-> |
| 6339 | JointInternal.JointToParentTransform[localB->b_kstr_jz]; |
| 6340 | } |
| 6341 | |
| 6342 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 6343 | newjoint->JointToParentTransform[localB->b_kstr_jz] = localB->obj |
| 6344 | [localB->b_kstr_jz]; |
| 6345 | } |
| 6346 | |
| 6347 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 6348 | localB->obj[localB->b_kstr_jz] = obj-> |
| 6349 | JointInternal.ChildToJointTransform[localB->b_kstr_jz]; |
| 6350 | } |
| 6351 | |
| 6352 | for (localB->b_kstr_jz = 0; localB->b_kstr_jz < 16; localB->b_kstr_jz++) { |
| 6353 | newjoint->ChildToJointTransform[localB->b_kstr_jz] = localB->obj |
| 6354 | [localB->b_kstr_jz]; |
| 6355 | } |
| 6356 | |
| 6357 | iobj_2->JointInternal = newjoint; |
| 6358 | return newbody; |
| 6359 | } |
| 6360 | |
| 6361 | static void cartesian_RigidBodyTree_addBody(x_robotics_manip_internal_Rig_T *obj, |
| 6362 | v_robotics_manip_internal_Rig_T *bodyin, const emxArray_char_T_cartesian_tra_T |
| 6363 | *parentName, c_rigidBodyJoint_cartesian_tr_T *iobj_0, |
| 6364 | c_rigidBodyJoint_cartesian_tr_T *iobj_1, w_robotics_manip_internal_Rig_T |
| 6365 | *iobj_2, B_MATLABSystem_cartesian_traj_T *localB) |
| 6366 | { |
| 6367 | w_robotics_manip_internal_Rig_T *body; |
| 6368 | c_rigidBodyJoint_cartesian_tr_T *jnt; |
| 6369 | emxArray_char_T_cartesian_tra_T *bname; |
| 6370 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 6371 | |
| 6372 | boolean_T exitg1; |
| 6373 | int32_T exitg2; |
| 6374 | cartesian_trajec_emxInit_char_T(&bname, 2, localB); |
| 6375 | localB->pid = -1.0; |
| 6376 | localB->b_kstr_hn = bname->size[0] * bname->size[1]; |
| 6377 | bname->size[0] = 1; |
| 6378 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 6379 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_hn, localB); |
| 6380 | localB->loop_ub_g3 = obj->Base.NameInternal->size[0] * obj-> |
| 6381 | Base.NameInternal->size[1] - 1; |
| 6382 | for (localB->b_kstr_hn = 0; localB->b_kstr_hn <= localB->loop_ub_g3; |
| 6383 | localB->b_kstr_hn++) { |
| 6384 | bname->data[localB->b_kstr_hn] = obj->Base.NameInternal->data |
| 6385 | [localB->b_kstr_hn]; |
| 6386 | } |
| 6387 | |
| 6388 | if (cartesian_trajectory_pla_strcmp(bname, parentName)) { |
| 6389 | localB->pid = 0.0; |
| 6390 | } else { |
| 6391 | localB->b_index_e = obj->NumBodies; |
| 6392 | localB->b_i_j3 = 0; |
| 6393 | exitg1 = false; |
| 6394 | while ((!exitg1) && (localB->b_i_j3 <= static_cast<int32_T> |
| 6395 | (localB->b_index_e) - 1)) { |
| 6396 | body = obj->Bodies[localB->b_i_j3]; |
| 6397 | localB->b_kstr_hn = bname->size[0] * bname->size[1]; |
| 6398 | bname->size[0] = 1; |
| 6399 | bname->size[1] = body->NameInternal->size[1]; |
| 6400 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_hn, localB); |
| 6401 | localB->loop_ub_g3 = body->NameInternal->size[0] * body-> |
| 6402 | NameInternal->size[1] - 1; |
| 6403 | for (localB->b_kstr_hn = 0; localB->b_kstr_hn <= localB->loop_ub_g3; |
| 6404 | localB->b_kstr_hn++) { |
| 6405 | bname->data[localB->b_kstr_hn] = body->NameInternal->data |
| 6406 | [localB->b_kstr_hn]; |
| 6407 | } |
| 6408 | |
| 6409 | if (cartesian_trajectory_pla_strcmp(bname, parentName)) { |
| 6410 | localB->pid = static_cast<real_T>(localB->b_i_j3) + 1.0; |
| 6411 | exitg1 = true; |
| 6412 | } else { |
| 6413 | localB->b_i_j3++; |
| 6414 | } |
| 6415 | } |
| 6416 | } |
| 6417 | |
| 6418 | localB->b_index_e = obj->NumBodies + 1.0; |
| 6419 | body = cartesian_trajec_RigidBody_copy(bodyin, iobj_1, iobj_0, iobj_2, localB); |
| 6420 | obj->Bodies[static_cast<int32_T>(localB->b_index_e) - 1] = body; |
| 6421 | body->Index = localB->b_index_e; |
| 6422 | body->ParentIndex = localB->pid; |
| 6423 | body->JointInternal->InTree = true; |
| 6424 | obj->NumBodies++; |
| 6425 | jnt = body->JointInternal; |
| 6426 | localB->b_kstr_hn = bname->size[0] * bname->size[1]; |
| 6427 | bname->size[0] = 1; |
| 6428 | bname->size[1] = jnt->Type->size[1]; |
| 6429 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_hn, localB); |
| 6430 | localB->loop_ub_g3 = jnt->Type->size[0] * jnt->Type->size[1] - 1; |
| 6431 | for (localB->b_kstr_hn = 0; localB->b_kstr_hn <= localB->loop_ub_g3; |
| 6432 | localB->b_kstr_hn++) { |
| 6433 | bname->data[localB->b_kstr_hn] = jnt->Type->data[localB->b_kstr_hn]; |
| 6434 | } |
| 6435 | |
| 6436 | for (localB->b_kstr_hn = 0; localB->b_kstr_hn < 5; localB->b_kstr_hn++) { |
| 6437 | localB->b_ob[localB->b_kstr_hn] = tmp[localB->b_kstr_hn]; |
| 6438 | } |
| 6439 | |
| 6440 | localB->b_bool_cg = false; |
| 6441 | if (bname->size[1] == 5) { |
| 6442 | localB->b_kstr_hn = 1; |
| 6443 | do { |
| 6444 | exitg2 = 0; |
| 6445 | if (localB->b_kstr_hn - 1 < 5) { |
| 6446 | localB->loop_ub_g3 = localB->b_kstr_hn - 1; |
| 6447 | if (bname->data[localB->loop_ub_g3] != localB->b_ob[localB->loop_ub_g3]) |
| 6448 | { |
| 6449 | exitg2 = 1; |
| 6450 | } else { |
| 6451 | localB->b_kstr_hn++; |
| 6452 | } |
| 6453 | } else { |
| 6454 | localB->b_bool_cg = true; |
| 6455 | exitg2 = 1; |
| 6456 | } |
| 6457 | } while (exitg2 == 0); |
| 6458 | } |
| 6459 | |
| 6460 | cartesian_trajec_emxFree_char_T(&bname); |
| 6461 | if (!localB->b_bool_cg) { |
| 6462 | obj->NumNonFixedBodies++; |
| 6463 | jnt = body->JointInternal; |
| 6464 | localB->b_kstr_hn = static_cast<int32_T>(body->Index) - 1; |
| 6465 | obj->PositionDoFMap[localB->b_kstr_hn] = obj->PositionNumber + 1.0; |
| 6466 | obj->PositionDoFMap[localB->b_kstr_hn + 8] = obj->PositionNumber + |
| 6467 | jnt->PositionNumber; |
| 6468 | jnt = body->JointInternal; |
| 6469 | localB->b_kstr_hn = static_cast<int32_T>(body->Index) - 1; |
| 6470 | obj->VelocityDoFMap[localB->b_kstr_hn] = obj->VelocityNumber + 1.0; |
| 6471 | obj->VelocityDoFMap[localB->b_kstr_hn + 8] = obj->VelocityNumber + |
| 6472 | jnt->VelocityNumber; |
| 6473 | } else { |
| 6474 | localB->b_kstr_hn = static_cast<int32_T>(body->Index); |
| 6475 | obj->PositionDoFMap[localB->b_kstr_hn - 1] = 0.0; |
| 6476 | obj->PositionDoFMap[localB->b_kstr_hn + 7] = -1.0; |
| 6477 | localB->b_kstr_hn = static_cast<int32_T>(body->Index); |
| 6478 | obj->VelocityDoFMap[localB->b_kstr_hn - 1] = 0.0; |
| 6479 | obj->VelocityDoFMap[localB->b_kstr_hn + 7] = -1.0; |
| 6480 | } |
| 6481 | |
| 6482 | jnt = body->JointInternal; |
| 6483 | obj->PositionNumber += jnt->PositionNumber; |
| 6484 | jnt = body->JointInternal; |
| 6485 | obj->VelocityNumber += jnt->VelocityNumber; |
| 6486 | } |
| 6487 | |
| 6488 | static void inverseKinematics_set_RigidBody(b_inverseKinematics_cartesian_T *obj, |
| 6489 | y_robotics_manip_internal_Rig_T *rigidbodytree, |
| 6490 | w_robotics_manip_internal_Rig_T *iobj_0, w_robotics_manip_internal_Rig_T |
| 6491 | *iobj_1, w_robotics_manip_internal_Rig_T *iobj_2, |
| 6492 | w_robotics_manip_internal_Rig_T *iobj_3, w_robotics_manip_internal_Rig_T |
| 6493 | *iobj_4, w_robotics_manip_internal_Rig_T *iobj_5, |
| 6494 | w_robotics_manip_internal_Rig_T *iobj_6, w_robotics_manip_internal_Rig_T |
| 6495 | *iobj_7, w_robotics_manip_internal_Rig_T *iobj_8, |
| 6496 | w_robotics_manip_internal_Rig_T *iobj_9, w_robotics_manip_internal_Rig_T |
| 6497 | *iobj_10, w_robotics_manip_internal_Rig_T *iobj_11, |
| 6498 | w_robotics_manip_internal_Rig_T *iobj_12, w_robotics_manip_internal_Rig_T |
| 6499 | *iobj_13, w_robotics_manip_internal_Rig_T *iobj_14, |
| 6500 | c_rigidBodyJoint_cartesian_tr_T *iobj_15, c_rigidBodyJoint_cartesian_tr_T |
| 6501 | *iobj_16, c_rigidBodyJoint_cartesian_tr_T *iobj_17, |
| 6502 | c_rigidBodyJoint_cartesian_tr_T *iobj_18, c_rigidBodyJoint_cartesian_tr_T |
| 6503 | *iobj_19, c_rigidBodyJoint_cartesian_tr_T *iobj_20, |
| 6504 | c_rigidBodyJoint_cartesian_tr_T *iobj_21, c_rigidBodyJoint_cartesian_tr_T |
| 6505 | *iobj_22, c_rigidBodyJoint_cartesian_tr_T *iobj_23, |
| 6506 | c_rigidBodyJoint_cartesian_tr_T *iobj_24, c_rigidBodyJoint_cartesian_tr_T |
| 6507 | *iobj_25, c_rigidBodyJoint_cartesian_tr_T *iobj_26, |
| 6508 | c_rigidBodyJoint_cartesian_tr_T *iobj_27, c_rigidBodyJoint_cartesian_tr_T |
| 6509 | *iobj_28, c_rigidBodyJoint_cartesian_tr_T *iobj_29, |
| 6510 | c_rigidBodyJoint_cartesian_tr_T *iobj_30, c_rigidBodyJoint_cartesian_tr_T |
| 6511 | *iobj_31, c_rigidBodyJoint_cartesian_tr_T *iobj_32, |
| 6512 | c_rigidBodyJoint_cartesian_tr_T *iobj_33, c_rigidBodyJoint_cartesian_tr_T |
| 6513 | *iobj_34, c_rigidBodyJoint_cartesian_tr_T *iobj_35, |
| 6514 | c_rigidBodyJoint_cartesian_tr_T *iobj_36, c_rigidBodyJoint_cartesian_tr_T |
| 6515 | *iobj_37, c_rigidBodyJoint_cartesian_tr_T *iobj_38, |
| 6516 | c_rigidBodyJoint_cartesian_tr_T *iobj_39, w_robotics_manip_internal_Rig_T |
| 6517 | *iobj_40, x_robotics_manip_internal_Rig_T *iobj_41, |
| 6518 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 6519 | *localDW) |
| 6520 | { |
| 6521 | x_robotics_manip_internal_Rig_T *newrobot; |
| 6522 | v_robotics_manip_internal_Rig_T *body; |
| 6523 | v_robotics_manip_internal_Rig_T *parent; |
| 6524 | emxArray_char_T_cartesian_tra_T *b_basename; |
| 6525 | w_robotics_manip_internal_Rig_T *body_0; |
| 6526 | c_rigidBodyJoint_cartesian_tr_T *jnt; |
| 6527 | emxArray_char_T_cartesian_tra_T *bname; |
| 6528 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 6529 | |
| 6530 | boolean_T exitg1; |
| 6531 | int32_T exitg2; |
| 6532 | cartesian_trajec_emxInit_char_T(&b_basename, 2, localB); |
| 6533 | newrobot = c_RigidBodyTree_RigidBodyTree_i(iobj_41, iobj_0, iobj_1, iobj_2, |
| 6534 | iobj_3, iobj_4, iobj_5, iobj_6, iobj_15, iobj_16, iobj_17, iobj_18, iobj_19, |
| 6535 | iobj_20, iobj_21, iobj_22, iobj_39, iobj_40, localB, localDW); |
| 6536 | localB->b_kstr_e = b_basename->size[0] * b_basename->size[1]; |
| 6537 | b_basename->size[0] = 1; |
| 6538 | b_basename->size[1] = rigidbodytree->Base.NameInternal->size[1]; |
| 6539 | cartes_emxEnsureCapacity_char_T(b_basename, localB->b_kstr_e, localB); |
| 6540 | localB->loop_ub_h = rigidbodytree->Base.NameInternal->size[0] * |
| 6541 | rigidbodytree->Base.NameInternal->size[1] - 1; |
| 6542 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6543 | localB->b_kstr_e++) { |
| 6544 | b_basename->data[localB->b_kstr_e] = rigidbodytree->Base.NameInternal-> |
| 6545 | data[localB->b_kstr_e]; |
| 6546 | } |
| 6547 | |
| 6548 | cartesian_trajec_emxInit_char_T(&bname, 2, localB); |
| 6549 | localB->bid_m = -1.0; |
| 6550 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6551 | bname->size[0] = 1; |
| 6552 | bname->size[1] = newrobot->Base.NameInternal->size[1]; |
| 6553 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6554 | localB->loop_ub_h = newrobot->Base.NameInternal->size[0] * |
| 6555 | newrobot->Base.NameInternal->size[1] - 1; |
| 6556 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6557 | localB->b_kstr_e++) { |
| 6558 | bname->data[localB->b_kstr_e] = newrobot->Base.NameInternal->data |
| 6559 | [localB->b_kstr_e]; |
| 6560 | } |
| 6561 | |
| 6562 | if (cartesian_trajectory_pla_strcmp(bname, b_basename)) { |
| 6563 | localB->bid_m = 0.0; |
| 6564 | } else { |
| 6565 | localB->b_index = newrobot->NumBodies; |
| 6566 | localB->b_i_h = 0; |
| 6567 | exitg1 = false; |
| 6568 | while ((!exitg1) && (localB->b_i_h <= static_cast<int32_T>(localB->b_index) |
| 6569 | - 1)) { |
| 6570 | body_0 = newrobot->Bodies[localB->b_i_h]; |
| 6571 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6572 | bname->size[0] = 1; |
| 6573 | bname->size[1] = body_0->NameInternal->size[1]; |
| 6574 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6575 | localB->loop_ub_h = body_0->NameInternal->size[0] * body_0-> |
| 6576 | NameInternal->size[1] - 1; |
| 6577 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6578 | localB->b_kstr_e++) { |
| 6579 | bname->data[localB->b_kstr_e] = body_0->NameInternal->data |
| 6580 | [localB->b_kstr_e]; |
| 6581 | } |
| 6582 | |
| 6583 | if (cartesian_trajectory_pla_strcmp(bname, b_basename)) { |
| 6584 | localB->bid_m = static_cast<real_T>(localB->b_i_h) + 1.0; |
| 6585 | exitg1 = true; |
| 6586 | } else { |
| 6587 | localB->b_i_h++; |
| 6588 | } |
| 6589 | } |
| 6590 | } |
| 6591 | |
| 6592 | if ((!(localB->bid_m == 0.0)) && (localB->bid_m < 0.0)) { |
| 6593 | localB->b_kstr_e = newrobot->Base.NameInternal->size[0] * |
| 6594 | newrobot->Base.NameInternal->size[1]; |
| 6595 | newrobot->Base.NameInternal->size[0] = 1; |
| 6596 | newrobot->Base.NameInternal->size[1] = b_basename->size[1]; |
| 6597 | cartes_emxEnsureCapacity_char_T(newrobot->Base.NameInternal, |
| 6598 | localB->b_kstr_e, localB); |
| 6599 | localB->loop_ub_h = b_basename->size[0] * b_basename->size[1] - 1; |
| 6600 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6601 | localB->b_kstr_e++) { |
| 6602 | newrobot->Base.NameInternal->data[localB->b_kstr_e] = b_basename-> |
| 6603 | data[localB->b_kstr_e]; |
| 6604 | } |
| 6605 | } |
| 6606 | |
| 6607 | if (1.0 <= rigidbodytree->NumBodies) { |
| 6608 | body = rigidbodytree->Bodies[0]; |
| 6609 | localB->bid_m = body->ParentIndex; |
| 6610 | if (localB->bid_m > 0.0) { |
| 6611 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6612 | } else { |
| 6613 | parent = &rigidbodytree->Base; |
| 6614 | } |
| 6615 | |
| 6616 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6617 | bname->size[0] = 1; |
| 6618 | bname->size[1] = parent->NameInternal->size[1]; |
| 6619 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6620 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6621 | NameInternal->size[1] - 1; |
| 6622 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6623 | localB->b_kstr_e++) { |
| 6624 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6625 | [localB->b_kstr_e]; |
| 6626 | } |
| 6627 | |
| 6628 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_24, iobj_23, |
| 6629 | iobj_7, localB); |
| 6630 | } |
| 6631 | |
| 6632 | if (2.0 <= rigidbodytree->NumBodies) { |
| 6633 | body = rigidbodytree->Bodies[1]; |
| 6634 | localB->bid_m = body->ParentIndex; |
| 6635 | if (localB->bid_m > 0.0) { |
| 6636 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6637 | } else { |
| 6638 | parent = &rigidbodytree->Base; |
| 6639 | } |
| 6640 | |
| 6641 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6642 | bname->size[0] = 1; |
| 6643 | bname->size[1] = parent->NameInternal->size[1]; |
| 6644 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6645 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6646 | NameInternal->size[1] - 1; |
| 6647 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6648 | localB->b_kstr_e++) { |
| 6649 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6650 | [localB->b_kstr_e]; |
| 6651 | } |
| 6652 | |
| 6653 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_26, iobj_25, |
| 6654 | iobj_8, localB); |
| 6655 | } |
| 6656 | |
| 6657 | if (3.0 <= rigidbodytree->NumBodies) { |
| 6658 | body = rigidbodytree->Bodies[2]; |
| 6659 | localB->bid_m = body->ParentIndex; |
| 6660 | if (localB->bid_m > 0.0) { |
| 6661 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6662 | } else { |
| 6663 | parent = &rigidbodytree->Base; |
| 6664 | } |
| 6665 | |
| 6666 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6667 | bname->size[0] = 1; |
| 6668 | bname->size[1] = parent->NameInternal->size[1]; |
| 6669 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6670 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6671 | NameInternal->size[1] - 1; |
| 6672 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6673 | localB->b_kstr_e++) { |
| 6674 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6675 | [localB->b_kstr_e]; |
| 6676 | } |
| 6677 | |
| 6678 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_28, iobj_27, |
| 6679 | iobj_9, localB); |
| 6680 | } |
| 6681 | |
| 6682 | if (4.0 <= rigidbodytree->NumBodies) { |
| 6683 | body = rigidbodytree->Bodies[3]; |
| 6684 | localB->bid_m = body->ParentIndex; |
| 6685 | if (localB->bid_m > 0.0) { |
| 6686 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6687 | } else { |
| 6688 | parent = &rigidbodytree->Base; |
| 6689 | } |
| 6690 | |
| 6691 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6692 | bname->size[0] = 1; |
| 6693 | bname->size[1] = parent->NameInternal->size[1]; |
| 6694 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6695 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6696 | NameInternal->size[1] - 1; |
| 6697 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6698 | localB->b_kstr_e++) { |
| 6699 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6700 | [localB->b_kstr_e]; |
| 6701 | } |
| 6702 | |
| 6703 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_30, iobj_29, |
| 6704 | iobj_10, localB); |
| 6705 | } |
| 6706 | |
| 6707 | if (5.0 <= rigidbodytree->NumBodies) { |
| 6708 | body = rigidbodytree->Bodies[4]; |
| 6709 | localB->bid_m = body->ParentIndex; |
| 6710 | if (localB->bid_m > 0.0) { |
| 6711 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6712 | } else { |
| 6713 | parent = &rigidbodytree->Base; |
| 6714 | } |
| 6715 | |
| 6716 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6717 | bname->size[0] = 1; |
| 6718 | bname->size[1] = parent->NameInternal->size[1]; |
| 6719 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6720 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6721 | NameInternal->size[1] - 1; |
| 6722 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6723 | localB->b_kstr_e++) { |
| 6724 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6725 | [localB->b_kstr_e]; |
| 6726 | } |
| 6727 | |
| 6728 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_32, iobj_31, |
| 6729 | iobj_11, localB); |
| 6730 | } |
| 6731 | |
| 6732 | if (6.0 <= rigidbodytree->NumBodies) { |
| 6733 | body = rigidbodytree->Bodies[5]; |
| 6734 | localB->bid_m = body->ParentIndex; |
| 6735 | if (localB->bid_m > 0.0) { |
| 6736 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6737 | } else { |
| 6738 | parent = &rigidbodytree->Base; |
| 6739 | } |
| 6740 | |
| 6741 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6742 | bname->size[0] = 1; |
| 6743 | bname->size[1] = parent->NameInternal->size[1]; |
| 6744 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6745 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6746 | NameInternal->size[1] - 1; |
| 6747 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6748 | localB->b_kstr_e++) { |
| 6749 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6750 | [localB->b_kstr_e]; |
| 6751 | } |
| 6752 | |
| 6753 | cartesian_RigidBodyTree_addBody(newrobot, body, bname, iobj_34, iobj_33, |
| 6754 | iobj_12, localB); |
| 6755 | } |
| 6756 | |
| 6757 | if (7.0 <= rigidbodytree->NumBodies) { |
| 6758 | body = rigidbodytree->Bodies[6]; |
| 6759 | localB->bid_m = body->ParentIndex; |
| 6760 | if (localB->bid_m > 0.0) { |
| 6761 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6762 | } else { |
| 6763 | parent = &rigidbodytree->Base; |
| 6764 | } |
| 6765 | |
| 6766 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6767 | bname->size[0] = 1; |
| 6768 | bname->size[1] = parent->NameInternal->size[1]; |
| 6769 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6770 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6771 | NameInternal->size[1] - 1; |
| 6772 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6773 | localB->b_kstr_e++) { |
| 6774 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6775 | [localB->b_kstr_e]; |
| 6776 | } |
| 6777 | |
| 6778 | localB->bid_m = -1.0; |
| 6779 | localB->b_kstr_e = b_basename->size[0] * b_basename->size[1]; |
| 6780 | b_basename->size[0] = 1; |
| 6781 | b_basename->size[1] = newrobot->Base.NameInternal->size[1]; |
| 6782 | cartes_emxEnsureCapacity_char_T(b_basename, localB->b_kstr_e, localB); |
| 6783 | localB->loop_ub_h = newrobot->Base.NameInternal->size[0] * |
| 6784 | newrobot->Base.NameInternal->size[1] - 1; |
| 6785 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6786 | localB->b_kstr_e++) { |
| 6787 | b_basename->data[localB->b_kstr_e] = newrobot->Base.NameInternal-> |
| 6788 | data[localB->b_kstr_e]; |
| 6789 | } |
| 6790 | |
| 6791 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 6792 | localB->bid_m = 0.0; |
| 6793 | } else { |
| 6794 | localB->b_index = newrobot->NumBodies; |
| 6795 | localB->b_i_h = 0; |
| 6796 | exitg1 = false; |
| 6797 | while ((!exitg1) && (localB->b_i_h <= static_cast<int32_T>(localB->b_index) |
| 6798 | - 1)) { |
| 6799 | body_0 = newrobot->Bodies[localB->b_i_h]; |
| 6800 | localB->b_kstr_e = b_basename->size[0] * b_basename->size[1]; |
| 6801 | b_basename->size[0] = 1; |
| 6802 | b_basename->size[1] = body_0->NameInternal->size[1]; |
| 6803 | cartes_emxEnsureCapacity_char_T(b_basename, localB->b_kstr_e, localB); |
| 6804 | localB->loop_ub_h = body_0->NameInternal->size[0] * body_0-> |
| 6805 | NameInternal->size[1] - 1; |
| 6806 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6807 | localB->b_kstr_e++) { |
| 6808 | b_basename->data[localB->b_kstr_e] = body_0->NameInternal->data |
| 6809 | [localB->b_kstr_e]; |
| 6810 | } |
| 6811 | |
| 6812 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 6813 | localB->bid_m = static_cast<real_T>(localB->b_i_h) + 1.0; |
| 6814 | exitg1 = true; |
| 6815 | } else { |
| 6816 | localB->b_i_h++; |
| 6817 | } |
| 6818 | } |
| 6819 | } |
| 6820 | |
| 6821 | localB->b_index = newrobot->NumBodies + 1.0; |
| 6822 | body_0 = cartesian_trajec_RigidBody_copy(body, iobj_35, iobj_36, iobj_13, |
| 6823 | localB); |
| 6824 | newrobot->Bodies[static_cast<int32_T>(localB->b_index) - 1] = body_0; |
| 6825 | body_0->Index = localB->b_index; |
| 6826 | body_0->ParentIndex = localB->bid_m; |
| 6827 | body_0->JointInternal->InTree = true; |
| 6828 | newrobot->NumBodies++; |
| 6829 | jnt = body_0->JointInternal; |
| 6830 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6831 | bname->size[0] = 1; |
| 6832 | bname->size[1] = jnt->Type->size[1]; |
| 6833 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6834 | localB->loop_ub_h = jnt->Type->size[0] * jnt->Type->size[1] - 1; |
| 6835 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6836 | localB->b_kstr_e++) { |
| 6837 | bname->data[localB->b_kstr_e] = jnt->Type->data[localB->b_kstr_e]; |
| 6838 | } |
| 6839 | |
| 6840 | for (localB->b_kstr_e = 0; localB->b_kstr_e < 5; localB->b_kstr_e++) { |
| 6841 | localB->b_c5[localB->b_kstr_e] = tmp[localB->b_kstr_e]; |
| 6842 | } |
| 6843 | |
| 6844 | localB->b_bool_c = false; |
| 6845 | if (bname->size[1] == 5) { |
| 6846 | localB->b_kstr_e = 1; |
| 6847 | do { |
| 6848 | exitg2 = 0; |
| 6849 | if (localB->b_kstr_e - 1 < 5) { |
| 6850 | localB->loop_ub_h = localB->b_kstr_e - 1; |
| 6851 | if (bname->data[localB->loop_ub_h] != localB->b_c5[localB->loop_ub_h]) |
| 6852 | { |
| 6853 | exitg2 = 1; |
| 6854 | } else { |
| 6855 | localB->b_kstr_e++; |
| 6856 | } |
| 6857 | } else { |
| 6858 | localB->b_bool_c = true; |
| 6859 | exitg2 = 1; |
| 6860 | } |
| 6861 | } while (exitg2 == 0); |
| 6862 | } |
| 6863 | |
| 6864 | if (!localB->b_bool_c) { |
| 6865 | newrobot->NumNonFixedBodies++; |
| 6866 | jnt = body_0->JointInternal; |
| 6867 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index) - 1; |
| 6868 | newrobot->PositionDoFMap[localB->b_kstr_e] = newrobot->PositionNumber + |
| 6869 | 1.0; |
| 6870 | newrobot->PositionDoFMap[localB->b_kstr_e + 8] = newrobot->PositionNumber |
| 6871 | + jnt->PositionNumber; |
| 6872 | jnt = body_0->JointInternal; |
| 6873 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index) - 1; |
| 6874 | newrobot->VelocityDoFMap[localB->b_kstr_e] = newrobot->VelocityNumber + |
| 6875 | 1.0; |
| 6876 | newrobot->VelocityDoFMap[localB->b_kstr_e + 8] = newrobot->VelocityNumber |
| 6877 | + jnt->VelocityNumber; |
| 6878 | } else { |
| 6879 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index); |
| 6880 | newrobot->PositionDoFMap[localB->b_kstr_e - 1] = 0.0; |
| 6881 | newrobot->PositionDoFMap[localB->b_kstr_e + 7] = -1.0; |
| 6882 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index); |
| 6883 | newrobot->VelocityDoFMap[localB->b_kstr_e - 1] = 0.0; |
| 6884 | newrobot->VelocityDoFMap[localB->b_kstr_e + 7] = -1.0; |
| 6885 | } |
| 6886 | |
| 6887 | jnt = body_0->JointInternal; |
| 6888 | newrobot->PositionNumber += jnt->PositionNumber; |
| 6889 | jnt = body_0->JointInternal; |
| 6890 | newrobot->VelocityNumber += jnt->VelocityNumber; |
| 6891 | } |
| 6892 | |
| 6893 | if (8.0 <= rigidbodytree->NumBodies) { |
| 6894 | body = rigidbodytree->Bodies[7]; |
| 6895 | localB->bid_m = body->ParentIndex; |
| 6896 | if (localB->bid_m > 0.0) { |
| 6897 | parent = rigidbodytree->Bodies[static_cast<int32_T>(localB->bid_m) - 1]; |
| 6898 | } else { |
| 6899 | parent = &rigidbodytree->Base; |
| 6900 | } |
| 6901 | |
| 6902 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6903 | bname->size[0] = 1; |
| 6904 | bname->size[1] = parent->NameInternal->size[1]; |
| 6905 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6906 | localB->loop_ub_h = parent->NameInternal->size[0] * parent-> |
| 6907 | NameInternal->size[1] - 1; |
| 6908 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6909 | localB->b_kstr_e++) { |
| 6910 | bname->data[localB->b_kstr_e] = parent->NameInternal->data |
| 6911 | [localB->b_kstr_e]; |
| 6912 | } |
| 6913 | |
| 6914 | localB->bid_m = -1.0; |
| 6915 | localB->b_kstr_e = b_basename->size[0] * b_basename->size[1]; |
| 6916 | b_basename->size[0] = 1; |
| 6917 | b_basename->size[1] = newrobot->Base.NameInternal->size[1]; |
| 6918 | cartes_emxEnsureCapacity_char_T(b_basename, localB->b_kstr_e, localB); |
| 6919 | localB->loop_ub_h = newrobot->Base.NameInternal->size[0] * |
| 6920 | newrobot->Base.NameInternal->size[1] - 1; |
| 6921 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6922 | localB->b_kstr_e++) { |
| 6923 | b_basename->data[localB->b_kstr_e] = newrobot->Base.NameInternal-> |
| 6924 | data[localB->b_kstr_e]; |
| 6925 | } |
| 6926 | |
| 6927 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 6928 | localB->bid_m = 0.0; |
| 6929 | } else { |
| 6930 | localB->b_index = newrobot->NumBodies; |
| 6931 | localB->b_i_h = 0; |
| 6932 | exitg1 = false; |
| 6933 | while ((!exitg1) && (localB->b_i_h <= static_cast<int32_T>(localB->b_index) |
| 6934 | - 1)) { |
| 6935 | body_0 = newrobot->Bodies[localB->b_i_h]; |
| 6936 | localB->b_kstr_e = b_basename->size[0] * b_basename->size[1]; |
| 6937 | b_basename->size[0] = 1; |
| 6938 | b_basename->size[1] = body_0->NameInternal->size[1]; |
| 6939 | cartes_emxEnsureCapacity_char_T(b_basename, localB->b_kstr_e, localB); |
| 6940 | localB->loop_ub_h = body_0->NameInternal->size[0] * body_0-> |
| 6941 | NameInternal->size[1] - 1; |
| 6942 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6943 | localB->b_kstr_e++) { |
| 6944 | b_basename->data[localB->b_kstr_e] = body_0->NameInternal->data |
| 6945 | [localB->b_kstr_e]; |
| 6946 | } |
| 6947 | |
| 6948 | if (cartesian_trajectory_pla_strcmp(b_basename, bname)) { |
| 6949 | localB->bid_m = static_cast<real_T>(localB->b_i_h) + 1.0; |
| 6950 | exitg1 = true; |
| 6951 | } else { |
| 6952 | localB->b_i_h++; |
| 6953 | } |
| 6954 | } |
| 6955 | } |
| 6956 | |
| 6957 | localB->b_index = newrobot->NumBodies + 1.0; |
| 6958 | body_0 = cartesian_trajec_RigidBody_copy(body, iobj_37, iobj_38, iobj_14, |
| 6959 | localB); |
| 6960 | newrobot->Bodies[static_cast<int32_T>(localB->b_index) - 1] = body_0; |
| 6961 | body_0->Index = localB->b_index; |
| 6962 | body_0->ParentIndex = localB->bid_m; |
| 6963 | body_0->JointInternal->InTree = true; |
| 6964 | newrobot->NumBodies++; |
| 6965 | jnt = body_0->JointInternal; |
| 6966 | localB->b_kstr_e = bname->size[0] * bname->size[1]; |
| 6967 | bname->size[0] = 1; |
| 6968 | bname->size[1] = jnt->Type->size[1]; |
| 6969 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr_e, localB); |
| 6970 | localB->loop_ub_h = jnt->Type->size[0] * jnt->Type->size[1] - 1; |
| 6971 | for (localB->b_kstr_e = 0; localB->b_kstr_e <= localB->loop_ub_h; |
| 6972 | localB->b_kstr_e++) { |
| 6973 | bname->data[localB->b_kstr_e] = jnt->Type->data[localB->b_kstr_e]; |
| 6974 | } |
| 6975 | |
| 6976 | for (localB->b_kstr_e = 0; localB->b_kstr_e < 5; localB->b_kstr_e++) { |
| 6977 | localB->b_c5[localB->b_kstr_e] = tmp[localB->b_kstr_e]; |
| 6978 | } |
| 6979 | |
| 6980 | localB->b_bool_c = false; |
| 6981 | if (bname->size[1] == 5) { |
| 6982 | localB->b_kstr_e = 1; |
| 6983 | do { |
| 6984 | exitg2 = 0; |
| 6985 | if (localB->b_kstr_e - 1 < 5) { |
| 6986 | localB->loop_ub_h = localB->b_kstr_e - 1; |
| 6987 | if (bname->data[localB->loop_ub_h] != localB->b_c5[localB->loop_ub_h]) |
| 6988 | { |
| 6989 | exitg2 = 1; |
| 6990 | } else { |
| 6991 | localB->b_kstr_e++; |
| 6992 | } |
| 6993 | } else { |
| 6994 | localB->b_bool_c = true; |
| 6995 | exitg2 = 1; |
| 6996 | } |
| 6997 | } while (exitg2 == 0); |
| 6998 | } |
| 6999 | |
| 7000 | if (!localB->b_bool_c) { |
| 7001 | newrobot->NumNonFixedBodies++; |
| 7002 | jnt = body_0->JointInternal; |
| 7003 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index) - 1; |
| 7004 | newrobot->PositionDoFMap[localB->b_kstr_e] = newrobot->PositionNumber + |
| 7005 | 1.0; |
| 7006 | newrobot->PositionDoFMap[localB->b_kstr_e + 8] = newrobot->PositionNumber |
| 7007 | + jnt->PositionNumber; |
| 7008 | jnt = body_0->JointInternal; |
| 7009 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index) - 1; |
| 7010 | newrobot->VelocityDoFMap[localB->b_kstr_e] = newrobot->VelocityNumber + |
| 7011 | 1.0; |
| 7012 | newrobot->VelocityDoFMap[localB->b_kstr_e + 8] = newrobot->VelocityNumber |
| 7013 | + jnt->VelocityNumber; |
| 7014 | } else { |
| 7015 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index); |
| 7016 | newrobot->PositionDoFMap[localB->b_kstr_e - 1] = 0.0; |
| 7017 | newrobot->PositionDoFMap[localB->b_kstr_e + 7] = -1.0; |
| 7018 | localB->b_kstr_e = static_cast<int32_T>(body_0->Index); |
| 7019 | newrobot->VelocityDoFMap[localB->b_kstr_e - 1] = 0.0; |
| 7020 | newrobot->VelocityDoFMap[localB->b_kstr_e + 7] = -1.0; |
| 7021 | } |
| 7022 | |
| 7023 | jnt = body_0->JointInternal; |
| 7024 | newrobot->PositionNumber += jnt->PositionNumber; |
| 7025 | jnt = body_0->JointInternal; |
| 7026 | newrobot->VelocityNumber += jnt->VelocityNumber; |
| 7027 | } |
| 7028 | |
| 7029 | cartesian_trajec_emxFree_char_T(&bname); |
| 7030 | cartesian_trajec_emxFree_char_T(&b_basename); |
| 7031 | obj->RigidBodyTreeInternal = newrobot; |
| 7032 | } |
| 7033 | |
| 7034 | static h_robotics_core_internal_Damp_T *DampedBFGSwGradientProjection_D |
| 7035 | (h_robotics_core_internal_Damp_T *obj) |
| 7036 | { |
| 7037 | h_robotics_core_internal_Damp_T *b_obj; |
| 7038 | int32_T i; |
| 7039 | static const char_T tmp[22] = { 'B', 'F', 'G', 'S', 'G', 'r', 'a', 'd', 'i', |
| 7040 | 'e', 'n', 't', 'P', 'r', 'o', 'j', 'e', 'c', 't', 'i', 'o', 'n' }; |
| 7041 | |
| 7042 | b_obj = obj; |
| 7043 | obj->MaxNumIteration = 1500.0; |
| 7044 | obj->MaxTime = 10.0; |
| 7045 | obj->GradientTolerance = 1.0E-7; |
| 7046 | obj->SolutionTolerance = 1.0E-6; |
| 7047 | obj->ArmijoRuleBeta = 0.4; |
| 7048 | obj->ArmijoRuleSigma = 1.0E-5; |
| 7049 | obj->ConstraintsOn = true; |
| 7050 | obj->RandomRestart = true; |
| 7051 | obj->StepTolerance = 1.0E-14; |
| 7052 | for (i = 0; i < 22; i++) { |
| 7053 | obj->Name[i] = tmp[i]; |
| 7054 | } |
| 7055 | |
| 7056 | obj->ConstraintMatrix->size[0] = 0; |
| 7057 | obj->ConstraintMatrix->size[1] = 0; |
| 7058 | obj->ConstraintBound->size[0] = 0; |
| 7059 | obj->TimeObj.StartTime = -1.0; |
| 7060 | obj->TimeObjInternal.StartTime = -1.0; |
| 7061 | return b_obj; |
| 7062 | } |
| 7063 | |
| 7064 | static void car_inverseKinematics_setupImpl(b_inverseKinematics_cartesian_T *obj, |
| 7065 | f_robotics_manip_internal_IKE_T *iobj_0, B_MATLABSystem_cartesian_traj_T |
| 7066 | *localB) |
| 7067 | { |
| 7068 | real_T n; |
| 7069 | emxArray_real_T_cartesian_tra_T *A; |
| 7070 | emxArray_real_T_cartesian_tra_T *b; |
| 7071 | real_T m; |
| 7072 | c_rigidBodyJoint_cartesian_tr_T *joint; |
| 7073 | real_T pnum; |
| 7074 | int32_T d; |
| 7075 | int32_T b_i; |
| 7076 | emxArray_real_T_cartesian_tra_T *e; |
| 7077 | int32_T j; |
| 7078 | int32_T p; |
| 7079 | emxArray_real_T_cartesian_tra_T *s; |
| 7080 | x_robotics_manip_internal_Rig_T *obj_0; |
| 7081 | w_robotics_manip_internal_Rig_T *body; |
| 7082 | int32_T c; |
| 7083 | boolean_T b_bool; |
| 7084 | emxArray_char_T_cartesian_tra_T *a; |
| 7085 | int8_T b_I[16]; |
| 7086 | int32_T m_0; |
| 7087 | real_T t; |
| 7088 | int32_T b_kstr; |
| 7089 | char_T b_0[5]; |
| 7090 | real_T pnum_0; |
| 7091 | int32_T loop_ub; |
| 7092 | real_T tmp; |
| 7093 | real_T w; |
| 7094 | static const char_T tmp_0[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 7095 | |
| 7096 | int32_T exitg1; |
| 7097 | cartesian_trajec_emxInit_real_T(&A, 2, localB); |
| 7098 | n = obj->RigidBodyTreeInternal->PositionNumber; |
| 7099 | b_kstr = A->size[0] * A->size[1]; |
| 7100 | c = static_cast<int32_T>(n); |
| 7101 | A->size[0] = c; |
| 7102 | loop_ub = static_cast<int32_T>(2.0 * n); |
| 7103 | A->size[1] = loop_ub; |
| 7104 | cartes_emxEnsureCapacity_real_T(A, b_kstr, localB); |
| 7105 | m_0 = loop_ub * c - 1; |
| 7106 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 7107 | A->data[b_kstr] = 0.0; |
| 7108 | } |
| 7109 | |
| 7110 | cartesian_trajec_emxInit_real_T(&b, 1, localB); |
| 7111 | b_kstr = b->size[0]; |
| 7112 | b->size[0] = loop_ub; |
| 7113 | cartes_emxEnsureCapacity_real_T(b, b_kstr, localB); |
| 7114 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7115 | b->data[b_kstr] = 0.0; |
| 7116 | } |
| 7117 | |
| 7118 | n = 1.0; |
| 7119 | m = 1.0; |
| 7120 | pnum = obj->RigidBodyTreeInternal->NumBodies; |
| 7121 | d = static_cast<int32_T>(pnum) - 1; |
| 7122 | cartesian_trajec_emxInit_real_T(&e, 2, localB); |
| 7123 | cartesian_trajec_emxInit_real_T(&s, 2, localB); |
| 7124 | cartesian_trajec_emxInit_char_T(&a, 2, localB); |
| 7125 | if (0 <= d) { |
| 7126 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 7127 | b_0[b_kstr] = tmp_0[b_kstr]; |
| 7128 | } |
| 7129 | } |
| 7130 | |
| 7131 | for (b_i = 0; b_i <= d; b_i++) { |
| 7132 | body = obj->RigidBodyTreeInternal->Bodies[b_i]; |
| 7133 | joint = body->JointInternal; |
| 7134 | pnum = joint->PositionNumber; |
| 7135 | b_kstr = a->size[0] * a->size[1]; |
| 7136 | a->size[0] = 1; |
| 7137 | a->size[1] = joint->Type->size[1]; |
| 7138 | cartes_emxEnsureCapacity_char_T(a, b_kstr, localB); |
| 7139 | loop_ub = joint->Type->size[0] * joint->Type->size[1] - 1; |
| 7140 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7141 | a->data[b_kstr] = joint->Type->data[b_kstr]; |
| 7142 | } |
| 7143 | |
| 7144 | b_bool = false; |
| 7145 | if (a->size[1] == 5) { |
| 7146 | b_kstr = 1; |
| 7147 | do { |
| 7148 | exitg1 = 0; |
| 7149 | if (b_kstr - 1 < 5) { |
| 7150 | loop_ub = b_kstr - 1; |
| 7151 | if (a->data[loop_ub] != b_0[loop_ub]) { |
| 7152 | exitg1 = 1; |
| 7153 | } else { |
| 7154 | b_kstr++; |
| 7155 | } |
| 7156 | } else { |
| 7157 | b_bool = true; |
| 7158 | exitg1 = 1; |
| 7159 | } |
| 7160 | } while (exitg1 == 0); |
| 7161 | } |
| 7162 | |
| 7163 | if (!b_bool) { |
| 7164 | tmp = (n + pnum) - 1.0; |
| 7165 | if (n > tmp) { |
| 7166 | j = 0; |
| 7167 | } else { |
| 7168 | j = static_cast<int32_T>(n) - 1; |
| 7169 | } |
| 7170 | |
| 7171 | w = m + pnum; |
| 7172 | if (m > w - 1.0) { |
| 7173 | p = 0; |
| 7174 | } else { |
| 7175 | p = static_cast<int32_T>(m) - 1; |
| 7176 | } |
| 7177 | |
| 7178 | if (pnum < 0.0) { |
| 7179 | t = 0.0; |
| 7180 | pnum_0 = 0.0; |
| 7181 | } else { |
| 7182 | t = pnum; |
| 7183 | pnum_0 = pnum; |
| 7184 | } |
| 7185 | |
| 7186 | m_0 = static_cast<int32_T>(pnum_0) - 1; |
| 7187 | b_kstr = s->size[0] * s->size[1]; |
| 7188 | c = static_cast<int32_T>(t); |
| 7189 | s->size[0] = c; |
| 7190 | s->size[1] = c; |
| 7191 | cartes_emxEnsureCapacity_real_T(s, b_kstr, localB); |
| 7192 | loop_ub = c * c - 1; |
| 7193 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7194 | s->data[b_kstr] = 0.0; |
| 7195 | } |
| 7196 | |
| 7197 | if (c > 0) { |
| 7198 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 7199 | s->data[b_kstr + s->size[0] * b_kstr] = 1.0; |
| 7200 | } |
| 7201 | } |
| 7202 | |
| 7203 | loop_ub = s->size[1]; |
| 7204 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7205 | m_0 = s->size[0]; |
| 7206 | for (c = 0; c < m_0; c++) { |
| 7207 | A->data[(j + c) + A->size[0] * (p + b_kstr)] = s->data[s->size[0] * |
| 7208 | b_kstr + c]; |
| 7209 | } |
| 7210 | } |
| 7211 | |
| 7212 | if (n > tmp) { |
| 7213 | j = 0; |
| 7214 | } else { |
| 7215 | j = static_cast<int32_T>(n) - 1; |
| 7216 | } |
| 7217 | |
| 7218 | tmp = 2.0 * pnum + m; |
| 7219 | if (w > tmp - 1.0) { |
| 7220 | p = 0; |
| 7221 | } else { |
| 7222 | p = static_cast<int32_T>(w) - 1; |
| 7223 | } |
| 7224 | |
| 7225 | if (pnum < 0.0) { |
| 7226 | t = 0.0; |
| 7227 | pnum_0 = 0.0; |
| 7228 | } else { |
| 7229 | t = pnum; |
| 7230 | pnum_0 = pnum; |
| 7231 | } |
| 7232 | |
| 7233 | m_0 = static_cast<int32_T>(pnum_0) - 1; |
| 7234 | b_kstr = s->size[0] * s->size[1]; |
| 7235 | c = static_cast<int32_T>(t); |
| 7236 | s->size[0] = c; |
| 7237 | s->size[1] = c; |
| 7238 | cartes_emxEnsureCapacity_real_T(s, b_kstr, localB); |
| 7239 | loop_ub = c * c - 1; |
| 7240 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7241 | s->data[b_kstr] = 0.0; |
| 7242 | } |
| 7243 | |
| 7244 | if (c > 0) { |
| 7245 | for (b_kstr = 0; b_kstr <= m_0; b_kstr++) { |
| 7246 | s->data[b_kstr + s->size[0] * b_kstr] = 1.0; |
| 7247 | } |
| 7248 | } |
| 7249 | |
| 7250 | loop_ub = s->size[1]; |
| 7251 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7252 | m_0 = s->size[0]; |
| 7253 | for (c = 0; c < m_0; c++) { |
| 7254 | A->data[(j + c) + A->size[0] * (p + b_kstr)] = -s->data[s->size[0] * |
| 7255 | b_kstr + c]; |
| 7256 | } |
| 7257 | } |
| 7258 | |
| 7259 | b_kstr = e->size[0] * e->size[1]; |
| 7260 | e->size[0] = joint->PositionLimitsInternal->size[0]; |
| 7261 | e->size[1] = 2; |
| 7262 | cartes_emxEnsureCapacity_real_T(e, b_kstr, localB); |
| 7263 | loop_ub = joint->PositionLimitsInternal->size[0] * |
| 7264 | joint->PositionLimitsInternal->size[1] - 1; |
| 7265 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7266 | e->data[b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 7267 | } |
| 7268 | |
| 7269 | b->data[static_cast<int32_T>(m) - 1] = e->data[1]; |
| 7270 | b_kstr = e->size[0] * e->size[1]; |
| 7271 | e->size[0] = joint->PositionLimitsInternal->size[0]; |
| 7272 | e->size[1] = 2; |
| 7273 | cartes_emxEnsureCapacity_real_T(e, b_kstr, localB); |
| 7274 | loop_ub = joint->PositionLimitsInternal->size[0] * |
| 7275 | joint->PositionLimitsInternal->size[1] - 1; |
| 7276 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7277 | e->data[b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 7278 | } |
| 7279 | |
| 7280 | b->data[static_cast<int32_T>(m + 1.0) - 1] = -e->data[0]; |
| 7281 | m = tmp; |
| 7282 | } |
| 7283 | |
| 7284 | n += pnum; |
| 7285 | } |
| 7286 | |
| 7287 | cartesian_trajec_emxFree_real_T(&s); |
| 7288 | b_kstr = A->size[0] * A->size[1]; |
| 7289 | c = obj->Solver->ConstraintMatrix->size[0] * obj->Solver-> |
| 7290 | ConstraintMatrix->size[1]; |
| 7291 | obj->Solver->ConstraintMatrix->size[0] = A->size[0]; |
| 7292 | obj->Solver->ConstraintMatrix->size[1] = A->size[1]; |
| 7293 | cartes_emxEnsureCapacity_real_T(obj->Solver->ConstraintMatrix, c, localB); |
| 7294 | loop_ub = b_kstr - 1; |
| 7295 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7296 | obj->Solver->ConstraintMatrix->data[b_kstr] = A->data[b_kstr]; |
| 7297 | } |
| 7298 | |
| 7299 | cartesian_trajec_emxFree_real_T(&A); |
| 7300 | b_kstr = obj->Solver->ConstraintBound->size[0]; |
| 7301 | obj->Solver->ConstraintBound->size[0] = b->size[0]; |
| 7302 | cartes_emxEnsureCapacity_real_T(obj->Solver->ConstraintBound, b_kstr, localB); |
| 7303 | loop_ub = b->size[0]; |
| 7304 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7305 | obj->Solver->ConstraintBound->data[b_kstr] = b->data[b_kstr]; |
| 7306 | } |
| 7307 | |
| 7308 | obj_0 = obj->RigidBodyTreeInternal; |
| 7309 | b_kstr = e->size[0] * e->size[1]; |
| 7310 | e->size[0] = static_cast<int32_T>(obj_0->PositionNumber); |
| 7311 | e->size[1] = 2; |
| 7312 | cartes_emxEnsureCapacity_real_T(e, b_kstr, localB); |
| 7313 | loop_ub = (static_cast<int32_T>(obj_0->PositionNumber) << 1) - 1; |
| 7314 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7315 | e->data[b_kstr] = 0.0; |
| 7316 | } |
| 7317 | |
| 7318 | n = 1.0; |
| 7319 | m = obj_0->NumBodies; |
| 7320 | c = static_cast<int32_T>(m) - 1; |
| 7321 | if (0 <= c) { |
| 7322 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 7323 | b_0[b_kstr] = tmp_0[b_kstr]; |
| 7324 | } |
| 7325 | } |
| 7326 | |
| 7327 | for (b_i = 0; b_i <= c; b_i++) { |
| 7328 | body = obj_0->Bodies[b_i]; |
| 7329 | b_kstr = a->size[0] * a->size[1]; |
| 7330 | a->size[0] = 1; |
| 7331 | a->size[1] = body->JointInternal->Type->size[1]; |
| 7332 | cartes_emxEnsureCapacity_char_T(a, b_kstr, localB); |
| 7333 | loop_ub = body->JointInternal->Type->size[0] * body->JointInternal-> |
| 7334 | Type->size[1] - 1; |
| 7335 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7336 | a->data[b_kstr] = body->JointInternal->Type->data[b_kstr]; |
| 7337 | } |
| 7338 | |
| 7339 | b_bool = false; |
| 7340 | if (a->size[1] == 5) { |
| 7341 | b_kstr = 1; |
| 7342 | do { |
| 7343 | exitg1 = 0; |
| 7344 | if (b_kstr - 1 < 5) { |
| 7345 | loop_ub = b_kstr - 1; |
| 7346 | if (a->data[loop_ub] != b_0[loop_ub]) { |
| 7347 | exitg1 = 1; |
| 7348 | } else { |
| 7349 | b_kstr++; |
| 7350 | } |
| 7351 | } else { |
| 7352 | b_bool = true; |
| 7353 | exitg1 = 1; |
| 7354 | } |
| 7355 | } while (exitg1 == 0); |
| 7356 | } |
| 7357 | |
| 7358 | if (!b_bool) { |
| 7359 | pnum = body->JointInternal->PositionNumber; |
| 7360 | tmp = n + pnum; |
| 7361 | if (n > tmp - 1.0) { |
| 7362 | d = 0; |
| 7363 | } else { |
| 7364 | d = static_cast<int32_T>(n) - 1; |
| 7365 | } |
| 7366 | |
| 7367 | joint = body->JointInternal; |
| 7368 | loop_ub = joint->PositionLimitsInternal->size[0]; |
| 7369 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7370 | e->data[d + b_kstr] = joint->PositionLimitsInternal->data[b_kstr]; |
| 7371 | } |
| 7372 | |
| 7373 | loop_ub = joint->PositionLimitsInternal->size[0]; |
| 7374 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7375 | e->data[(d + b_kstr) + e->size[0]] = joint->PositionLimitsInternal-> |
| 7376 | data[b_kstr + joint->PositionLimitsInternal->size[0]]; |
| 7377 | } |
| 7378 | |
| 7379 | n = tmp; |
| 7380 | } |
| 7381 | } |
| 7382 | |
| 7383 | cartesian_trajec_emxFree_char_T(&a); |
| 7384 | b_kstr = obj->Limits->size[0] * obj->Limits->size[1]; |
| 7385 | obj->Limits->size[0] = e->size[0]; |
| 7386 | obj->Limits->size[1] = 2; |
| 7387 | cartes_emxEnsureCapacity_real_T(obj->Limits, b_kstr, localB); |
| 7388 | loop_ub = e->size[0] * e->size[1] - 1; |
| 7389 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7390 | obj->Limits->data[b_kstr] = e->data[b_kstr]; |
| 7391 | } |
| 7392 | |
| 7393 | cartesian_trajec_emxFree_real_T(&e); |
| 7394 | obj->Solver->ExtraArgs = iobj_0; |
| 7395 | for (b_kstr = 0; b_kstr < 36; b_kstr++) { |
| 7396 | obj->Solver->ExtraArgs->WeightMatrix[b_kstr] = 0.0; |
| 7397 | } |
| 7398 | |
| 7399 | obj->Solver->ExtraArgs->Robot = obj->RigidBodyTreeInternal; |
| 7400 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 7401 | b_I[b_kstr] = 0; |
| 7402 | } |
| 7403 | |
| 7404 | b_I[0] = 1; |
| 7405 | b_I[5] = 1; |
| 7406 | b_I[10] = 1; |
| 7407 | b_I[15] = 1; |
| 7408 | for (b_kstr = 0; b_kstr < 16; b_kstr++) { |
| 7409 | obj->Solver->ExtraArgs->Tform[b_kstr] = b_I[b_kstr]; |
| 7410 | } |
| 7411 | |
| 7412 | obj->Solver->ExtraArgs->BodyName->size[0] = 1; |
| 7413 | obj->Solver->ExtraArgs->BodyName->size[1] = 0; |
| 7414 | b_kstr = obj->Solver->ExtraArgs->ErrTemp->size[0]; |
| 7415 | obj->Solver->ExtraArgs->ErrTemp->size[0] = 6; |
| 7416 | cartes_emxEnsureCapacity_real_T(obj->Solver->ExtraArgs->ErrTemp, b_kstr, |
| 7417 | localB); |
| 7418 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 7419 | obj->Solver->ExtraArgs->ErrTemp->data[b_kstr] = 0.0; |
| 7420 | } |
| 7421 | |
| 7422 | obj->Solver->ExtraArgs->CostTemp = 0.0; |
| 7423 | b_kstr = b->size[0]; |
| 7424 | b->size[0] = static_cast<int32_T>(obj->RigidBodyTreeInternal->PositionNumber); |
| 7425 | cartes_emxEnsureCapacity_real_T(b, b_kstr, localB); |
| 7426 | loop_ub = static_cast<int32_T>(obj->RigidBodyTreeInternal->PositionNumber); |
| 7427 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7428 | b->data[b_kstr] = 0.0; |
| 7429 | } |
| 7430 | |
| 7431 | b_kstr = obj->Solver->ExtraArgs->GradTemp->size[0]; |
| 7432 | obj->Solver->ExtraArgs->GradTemp->size[0] = b->size[0]; |
| 7433 | cartes_emxEnsureCapacity_real_T(obj->Solver->ExtraArgs->GradTemp, b_kstr, |
| 7434 | localB); |
| 7435 | loop_ub = b->size[0]; |
| 7436 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7437 | obj->Solver->ExtraArgs->GradTemp->data[b_kstr] = b->data[b_kstr]; |
| 7438 | } |
| 7439 | |
| 7440 | cartesian_trajec_emxFree_real_T(&b); |
| 7441 | } |
| 7442 | |
| 7443 | static void c_inverseKinematics_setPoseGoal(b_inverseKinematics_cartesian_T *obj, |
| 7444 | const real_T tform[16], const real_T weights[6], |
| 7445 | B_MATLABSystem_cartesian_traj_T *localB) |
| 7446 | { |
| 7447 | real_T weightMatrix[36]; |
| 7448 | f_robotics_manip_internal_IKE_T *args; |
| 7449 | int32_T b_j; |
| 7450 | static const char_T tmp[11] = { 'e', 'd', 'o', '_', 'l', 'i', 'n', 'k', '_', |
| 7451 | 'e', 'e' }; |
| 7452 | |
| 7453 | memset(&weightMatrix[0], 0, 36U * sizeof(real_T)); |
| 7454 | for (b_j = 0; b_j < 6; b_j++) { |
| 7455 | weightMatrix[b_j + 6 * b_j] = weights[b_j]; |
| 7456 | } |
| 7457 | |
| 7458 | args = obj->Solver->ExtraArgs; |
| 7459 | for (b_j = 0; b_j < 36; b_j++) { |
| 7460 | args->WeightMatrix[b_j] = weightMatrix[b_j]; |
| 7461 | } |
| 7462 | |
| 7463 | b_j = args->BodyName->size[0] * args->BodyName->size[1]; |
| 7464 | args->BodyName->size[0] = 1; |
| 7465 | args->BodyName->size[1] = 11; |
| 7466 | cartes_emxEnsureCapacity_char_T(args->BodyName, b_j, localB); |
| 7467 | for (b_j = 0; b_j < 11; b_j++) { |
| 7468 | args->BodyName->data[b_j] = tmp[b_j]; |
| 7469 | } |
| 7470 | |
| 7471 | for (b_j = 0; b_j < 16; b_j++) { |
| 7472 | args->Tform[b_j] = tform[b_j]; |
| 7473 | } |
| 7474 | } |
| 7475 | |
| 7476 | static void RigidBodyTree_validateConfigu_j(x_robotics_manip_internal_Rig_T *obj, |
| 7477 | real_T Q[6], B_MATLABSystem_cartesian_traj_T *localB) |
| 7478 | { |
| 7479 | emxArray_real_T_cartesian_tra_T *limits; |
| 7480 | boolean_T ubOK[6]; |
| 7481 | boolean_T lbOK[6]; |
| 7482 | real_T k; |
| 7483 | w_robotics_manip_internal_Rig_T *body; |
| 7484 | real_T pnum; |
| 7485 | int32_T c; |
| 7486 | int32_T f; |
| 7487 | int32_T ii_data[6]; |
| 7488 | boolean_T b_bool; |
| 7489 | emxArray_char_T_cartesian_tra_T *a; |
| 7490 | c_rigidBodyJoint_cartesian_tr_T *obj_0; |
| 7491 | int32_T idx; |
| 7492 | int32_T b_kstr; |
| 7493 | char_T b[5]; |
| 7494 | int32_T loop_ub; |
| 7495 | emxArray_real_T_cartesian_tra_T *limits_0; |
| 7496 | emxArray_real_T_cartesian_tra_T *limits_1; |
| 7497 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 7498 | |
| 7499 | boolean_T guard1 = false; |
| 7500 | int32_T exitg1; |
| 7501 | boolean_T exitg2; |
| 7502 | cartesian_trajec_emxInit_real_T(&limits, 2, localB); |
| 7503 | b_kstr = limits->size[0] * limits->size[1]; |
| 7504 | limits->size[0] = static_cast<int32_T>(obj->PositionNumber); |
| 7505 | limits->size[1] = 2; |
| 7506 | cartes_emxEnsureCapacity_real_T(limits, b_kstr, localB); |
| 7507 | loop_ub = (static_cast<int32_T>(obj->PositionNumber) << 1) - 1; |
| 7508 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7509 | limits->data[b_kstr] = 0.0; |
| 7510 | } |
| 7511 | |
| 7512 | k = 1.0; |
| 7513 | pnum = obj->NumBodies; |
| 7514 | c = static_cast<int32_T>(pnum) - 1; |
| 7515 | cartesian_trajec_emxInit_char_T(&a, 2, localB); |
| 7516 | if (0 <= c) { |
| 7517 | for (b_kstr = 0; b_kstr < 5; b_kstr++) { |
| 7518 | b[b_kstr] = tmp[b_kstr]; |
| 7519 | } |
| 7520 | } |
| 7521 | |
| 7522 | for (idx = 0; idx <= c; idx++) { |
| 7523 | body = obj->Bodies[idx]; |
| 7524 | b_kstr = a->size[0] * a->size[1]; |
| 7525 | a->size[0] = 1; |
| 7526 | a->size[1] = body->JointInternal->Type->size[1]; |
| 7527 | cartes_emxEnsureCapacity_char_T(a, b_kstr, localB); |
| 7528 | loop_ub = body->JointInternal->Type->size[0] * body->JointInternal-> |
| 7529 | Type->size[1] - 1; |
| 7530 | for (b_kstr = 0; b_kstr <= loop_ub; b_kstr++) { |
| 7531 | a->data[b_kstr] = body->JointInternal->Type->data[b_kstr]; |
| 7532 | } |
| 7533 | |
| 7534 | b_bool = false; |
| 7535 | if (a->size[1] == 5) { |
| 7536 | b_kstr = 1; |
| 7537 | do { |
| 7538 | exitg1 = 0; |
| 7539 | if (b_kstr - 1 < 5) { |
| 7540 | loop_ub = b_kstr - 1; |
| 7541 | if (a->data[loop_ub] != b[loop_ub]) { |
| 7542 | exitg1 = 1; |
| 7543 | } else { |
| 7544 | b_kstr++; |
| 7545 | } |
| 7546 | } else { |
| 7547 | b_bool = true; |
| 7548 | exitg1 = 1; |
| 7549 | } |
| 7550 | } while (exitg1 == 0); |
| 7551 | } |
| 7552 | |
| 7553 | if (!b_bool) { |
| 7554 | pnum = body->JointInternal->PositionNumber; |
| 7555 | pnum += k; |
| 7556 | if (k > pnum - 1.0) { |
| 7557 | f = 0; |
| 7558 | } else { |
| 7559 | f = static_cast<int32_T>(k) - 1; |
| 7560 | } |
| 7561 | |
| 7562 | obj_0 = body->JointInternal; |
| 7563 | loop_ub = obj_0->PositionLimitsInternal->size[0]; |
| 7564 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7565 | limits->data[f + b_kstr] = obj_0->PositionLimitsInternal->data[b_kstr]; |
| 7566 | } |
| 7567 | |
| 7568 | loop_ub = obj_0->PositionLimitsInternal->size[0]; |
| 7569 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7570 | limits->data[(f + b_kstr) + limits->size[0]] = |
| 7571 | obj_0->PositionLimitsInternal->data[b_kstr + |
| 7572 | obj_0->PositionLimitsInternal->size[0]]; |
| 7573 | } |
| 7574 | |
| 7575 | k = pnum; |
| 7576 | } |
| 7577 | } |
| 7578 | |
| 7579 | cartesian_trajec_emxFree_char_T(&a); |
| 7580 | cartesian_trajec_emxInit_real_T(&limits_0, 1, localB); |
| 7581 | loop_ub = limits->size[0]; |
| 7582 | b_kstr = limits_0->size[0]; |
| 7583 | limits_0->size[0] = loop_ub; |
| 7584 | cartes_emxEnsureCapacity_real_T(limits_0, b_kstr, localB); |
| 7585 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7586 | limits_0->data[b_kstr] = limits->data[b_kstr + limits->size[0]] + |
| 7587 | 4.4408920985006262E-16; |
| 7588 | } |
| 7589 | |
| 7590 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 7591 | ubOK[b_kstr] = (Q[b_kstr] <= limits_0->data[b_kstr]); |
| 7592 | } |
| 7593 | |
| 7594 | cartesian_trajec_emxFree_real_T(&limits_0); |
| 7595 | cartesian_trajec_emxInit_real_T(&limits_1, 1, localB); |
| 7596 | loop_ub = limits->size[0]; |
| 7597 | b_kstr = limits_1->size[0]; |
| 7598 | limits_1->size[0] = loop_ub; |
| 7599 | cartes_emxEnsureCapacity_real_T(limits_1, b_kstr, localB); |
| 7600 | for (b_kstr = 0; b_kstr < loop_ub; b_kstr++) { |
| 7601 | limits_1->data[b_kstr] = limits->data[b_kstr] - 4.4408920985006262E-16; |
| 7602 | } |
| 7603 | |
| 7604 | for (b_kstr = 0; b_kstr < 6; b_kstr++) { |
| 7605 | lbOK[b_kstr] = (Q[b_kstr] >= limits_1->data[b_kstr]); |
| 7606 | } |
| 7607 | |
| 7608 | cartesian_trajec_emxFree_real_T(&limits_1); |
| 7609 | b_bool = true; |
| 7610 | idx = 0; |
| 7611 | exitg2 = false; |
| 7612 | while ((!exitg2) && (idx < 6)) { |
| 7613 | if (!ubOK[idx]) { |
| 7614 | b_bool = false; |
| 7615 | exitg2 = true; |
| 7616 | } else { |
| 7617 | idx++; |
| 7618 | } |
| 7619 | } |
| 7620 | |
| 7621 | guard1 = false; |
| 7622 | if (b_bool) { |
| 7623 | b_bool = true; |
| 7624 | idx = 0; |
| 7625 | exitg2 = false; |
| 7626 | while ((!exitg2) && (idx < 6)) { |
| 7627 | if (!lbOK[idx]) { |
| 7628 | b_bool = false; |
| 7629 | exitg2 = true; |
| 7630 | } else { |
| 7631 | idx++; |
| 7632 | } |
| 7633 | } |
| 7634 | |
| 7635 | if (b_bool) { |
| 7636 | } else { |
| 7637 | guard1 = true; |
| 7638 | } |
| 7639 | } else { |
| 7640 | guard1 = true; |
| 7641 | } |
| 7642 | |
| 7643 | if (guard1) { |
| 7644 | idx = 0; |
| 7645 | b_kstr = 1; |
| 7646 | exitg2 = false; |
| 7647 | while ((!exitg2) && (b_kstr - 1 < 6)) { |
| 7648 | if (!ubOK[b_kstr - 1]) { |
| 7649 | idx++; |
| 7650 | ii_data[idx - 1] = b_kstr; |
| 7651 | if (idx >= 6) { |
| 7652 | exitg2 = true; |
| 7653 | } else { |
| 7654 | b_kstr++; |
| 7655 | } |
| 7656 | } else { |
| 7657 | b_kstr++; |
| 7658 | } |
| 7659 | } |
| 7660 | |
| 7661 | if (1 > idx) { |
| 7662 | idx = 0; |
| 7663 | } |
| 7664 | |
| 7665 | for (b_kstr = 0; b_kstr < idx; b_kstr++) { |
| 7666 | Q[ii_data[b_kstr] - 1] = limits->data[(ii_data[b_kstr] + limits->size[0]) |
| 7667 | - 1]; |
| 7668 | } |
| 7669 | |
| 7670 | idx = 0; |
| 7671 | b_kstr = 1; |
| 7672 | exitg2 = false; |
| 7673 | while ((!exitg2) && (b_kstr - 1 < 6)) { |
| 7674 | if (!lbOK[b_kstr - 1]) { |
| 7675 | idx++; |
| 7676 | ii_data[idx - 1] = b_kstr; |
| 7677 | if (idx >= 6) { |
| 7678 | exitg2 = true; |
| 7679 | } else { |
| 7680 | b_kstr++; |
| 7681 | } |
| 7682 | } else { |
| 7683 | b_kstr++; |
| 7684 | } |
| 7685 | } |
| 7686 | |
| 7687 | if (1 > idx) { |
| 7688 | idx = 0; |
| 7689 | } |
| 7690 | |
| 7691 | for (b_kstr = 0; b_kstr < idx; b_kstr++) { |
| 7692 | Q[ii_data[b_kstr] - 1] = limits->data[ii_data[b_kstr] - 1]; |
| 7693 | } |
| 7694 | } |
| 7695 | |
| 7696 | cartesian_trajec_emxFree_real_T(&limits); |
| 7697 | } |
| 7698 | |
| 7699 | static void ca_rigidBodyJoint_get_JointAxis(const |
| 7700 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T ax[3], |
| 7701 | B_MATLABSystem_cartesian_traj_T *localB) |
| 7702 | { |
| 7703 | emxArray_char_T_cartesian_tra_T *a; |
| 7704 | static const char_T tmp[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 7705 | |
| 7706 | static const char_T tmp_0[9] = { 'p', 'r', 'i', 's', 'm', 'a', 't', 'i', 'c' }; |
| 7707 | |
| 7708 | boolean_T guard1 = false; |
| 7709 | int32_T exitg1; |
| 7710 | cartesian_trajec_emxInit_char_T(&a, 2, localB); |
| 7711 | localB->b_kstr_j = a->size[0] * a->size[1]; |
| 7712 | a->size[0] = 1; |
| 7713 | a->size[1] = obj->Type->size[1]; |
| 7714 | cartes_emxEnsureCapacity_char_T(a, localB->b_kstr_j, localB); |
| 7715 | localB->loop_ub_o = obj->Type->size[0] * obj->Type->size[1] - 1; |
| 7716 | for (localB->b_kstr_j = 0; localB->b_kstr_j <= localB->loop_ub_o; |
| 7717 | localB->b_kstr_j++) { |
| 7718 | a->data[localB->b_kstr_j] = obj->Type->data[localB->b_kstr_j]; |
| 7719 | } |
| 7720 | |
| 7721 | for (localB->b_kstr_j = 0; localB->b_kstr_j < 8; localB->b_kstr_j++) { |
| 7722 | localB->b_m4[localB->b_kstr_j] = tmp[localB->b_kstr_j]; |
| 7723 | } |
| 7724 | |
| 7725 | localB->b_bool_k = false; |
| 7726 | if (a->size[1] == 8) { |
| 7727 | localB->b_kstr_j = 1; |
| 7728 | do { |
| 7729 | exitg1 = 0; |
| 7730 | if (localB->b_kstr_j - 1 < 8) { |
| 7731 | localB->loop_ub_o = localB->b_kstr_j - 1; |
| 7732 | if (a->data[localB->loop_ub_o] != localB->b_m4[localB->loop_ub_o]) { |
| 7733 | exitg1 = 1; |
| 7734 | } else { |
| 7735 | localB->b_kstr_j++; |
| 7736 | } |
| 7737 | } else { |
| 7738 | localB->b_bool_k = true; |
| 7739 | exitg1 = 1; |
| 7740 | } |
| 7741 | } while (exitg1 == 0); |
| 7742 | } |
| 7743 | |
| 7744 | guard1 = false; |
| 7745 | if (localB->b_bool_k) { |
| 7746 | guard1 = true; |
| 7747 | } else { |
| 7748 | localB->b_kstr_j = a->size[0] * a->size[1]; |
| 7749 | a->size[0] = 1; |
| 7750 | a->size[1] = obj->Type->size[1]; |
| 7751 | cartes_emxEnsureCapacity_char_T(a, localB->b_kstr_j, localB); |
| 7752 | localB->loop_ub_o = obj->Type->size[0] * obj->Type->size[1] - 1; |
| 7753 | for (localB->b_kstr_j = 0; localB->b_kstr_j <= localB->loop_ub_o; |
| 7754 | localB->b_kstr_j++) { |
| 7755 | a->data[localB->b_kstr_j] = obj->Type->data[localB->b_kstr_j]; |
| 7756 | } |
| 7757 | |
| 7758 | for (localB->b_kstr_j = 0; localB->b_kstr_j < 9; localB->b_kstr_j++) { |
| 7759 | localB->b_i[localB->b_kstr_j] = tmp_0[localB->b_kstr_j]; |
| 7760 | } |
| 7761 | |
| 7762 | localB->b_bool_k = false; |
| 7763 | if (a->size[1] == 9) { |
| 7764 | localB->b_kstr_j = 1; |
| 7765 | do { |
| 7766 | exitg1 = 0; |
| 7767 | if (localB->b_kstr_j - 1 < 9) { |
| 7768 | localB->loop_ub_o = localB->b_kstr_j - 1; |
| 7769 | if (a->data[localB->loop_ub_o] != localB->b_i[localB->loop_ub_o]) { |
| 7770 | exitg1 = 1; |
| 7771 | } else { |
| 7772 | localB->b_kstr_j++; |
| 7773 | } |
| 7774 | } else { |
| 7775 | localB->b_bool_k = true; |
| 7776 | exitg1 = 1; |
| 7777 | } |
| 7778 | } while (exitg1 == 0); |
| 7779 | } |
| 7780 | |
| 7781 | if (localB->b_bool_k) { |
| 7782 | guard1 = true; |
| 7783 | } else { |
| 7784 | ax[0] = (rtNaN); |
| 7785 | ax[1] = (rtNaN); |
| 7786 | ax[2] = (rtNaN); |
| 7787 | } |
| 7788 | } |
| 7789 | |
| 7790 | if (guard1) { |
| 7791 | ax[0] = obj->JointAxisInternal[0]; |
| 7792 | ax[1] = obj->JointAxisInternal[1]; |
| 7793 | ax[2] = obj->JointAxisInternal[2]; |
| 7794 | } |
| 7795 | |
| 7796 | cartesian_trajec_emxFree_char_T(&a); |
| 7797 | } |
| 7798 | |
| 7799 | static void cartesian_trajectory_planne_cat(real_T varargin_1, real_T varargin_2, |
| 7800 | real_T varargin_3, real_T varargin_4, real_T varargin_5, real_T varargin_6, |
| 7801 | real_T varargin_7, real_T varargin_8, real_T varargin_9, real_T y[9]) |
| 7802 | { |
| 7803 | y[0] = varargin_1; |
| 7804 | y[1] = varargin_2; |
| 7805 | y[2] = varargin_3; |
| 7806 | y[3] = varargin_4; |
| 7807 | y[4] = varargin_5; |
| 7808 | y[5] = varargin_6; |
| 7809 | y[6] = varargin_7; |
| 7810 | y[7] = varargin_8; |
| 7811 | y[8] = varargin_9; |
| 7812 | } |
| 7813 | |
| 7814 | static void rigidBodyJoint_transformBodyToP(const |
| 7815 | c_rigidBodyJoint_cartesian_tr_T *obj, real_T T[16], |
| 7816 | B_MATLABSystem_cartesian_traj_T *localB) |
| 7817 | { |
| 7818 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 7819 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 7820 | |
| 7821 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 7822 | |
| 7823 | int32_T exitg1; |
| 7824 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 7825 | localB->b_kstr_a = switch_expression->size[0] * switch_expression->size[1]; |
| 7826 | switch_expression->size[0] = 1; |
| 7827 | switch_expression->size[1] = obj->Type->size[1]; |
| 7828 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_a, localB); |
| 7829 | localB->loop_ub_fn = obj->Type->size[0] * obj->Type->size[1] - 1; |
| 7830 | for (localB->b_kstr_a = 0; localB->b_kstr_a <= localB->loop_ub_fn; |
| 7831 | localB->b_kstr_a++) { |
| 7832 | switch_expression->data[localB->b_kstr_a] = obj->Type->data[localB->b_kstr_a]; |
| 7833 | } |
| 7834 | |
| 7835 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 5; localB->b_kstr_a++) { |
| 7836 | localB->b_da[localB->b_kstr_a] = tmp[localB->b_kstr_a]; |
| 7837 | } |
| 7838 | |
| 7839 | localB->b_bool_f = false; |
| 7840 | if (switch_expression->size[1] == 5) { |
| 7841 | localB->b_kstr_a = 1; |
| 7842 | do { |
| 7843 | exitg1 = 0; |
| 7844 | if (localB->b_kstr_a - 1 < 5) { |
| 7845 | localB->loop_ub_fn = localB->b_kstr_a - 1; |
| 7846 | if (switch_expression->data[localB->loop_ub_fn] != localB->b_da |
| 7847 | [localB->loop_ub_fn]) { |
| 7848 | exitg1 = 1; |
| 7849 | } else { |
| 7850 | localB->b_kstr_a++; |
| 7851 | } |
| 7852 | } else { |
| 7853 | localB->b_bool_f = true; |
| 7854 | exitg1 = 1; |
| 7855 | } |
| 7856 | } while (exitg1 == 0); |
| 7857 | } |
| 7858 | |
| 7859 | if (localB->b_bool_f) { |
| 7860 | localB->b_kstr_a = 0; |
| 7861 | } else { |
| 7862 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 8; localB->b_kstr_a++) { |
| 7863 | localB->b_a[localB->b_kstr_a] = tmp_0[localB->b_kstr_a]; |
| 7864 | } |
| 7865 | |
| 7866 | localB->b_bool_f = false; |
| 7867 | if (switch_expression->size[1] == 8) { |
| 7868 | localB->b_kstr_a = 1; |
| 7869 | do { |
| 7870 | exitg1 = 0; |
| 7871 | if (localB->b_kstr_a - 1 < 8) { |
| 7872 | localB->loop_ub_fn = localB->b_kstr_a - 1; |
| 7873 | if (switch_expression->data[localB->loop_ub_fn] != localB->b_a |
| 7874 | [localB->loop_ub_fn]) { |
| 7875 | exitg1 = 1; |
| 7876 | } else { |
| 7877 | localB->b_kstr_a++; |
| 7878 | } |
| 7879 | } else { |
| 7880 | localB->b_bool_f = true; |
| 7881 | exitg1 = 1; |
| 7882 | } |
| 7883 | } while (exitg1 == 0); |
| 7884 | } |
| 7885 | |
| 7886 | if (localB->b_bool_f) { |
| 7887 | localB->b_kstr_a = 1; |
| 7888 | } else { |
| 7889 | localB->b_kstr_a = -1; |
| 7890 | } |
| 7891 | } |
| 7892 | |
| 7893 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 7894 | switch (localB->b_kstr_a) { |
| 7895 | case 0: |
| 7896 | memset(&localB->TJ_l[0], 0, sizeof(real_T) << 4U); |
| 7897 | localB->TJ_l[0] = 1.0; |
| 7898 | localB->TJ_l[5] = 1.0; |
| 7899 | localB->TJ_l[10] = 1.0; |
| 7900 | localB->TJ_l[15] = 1.0; |
| 7901 | break; |
| 7902 | |
| 7903 | case 1: |
| 7904 | ca_rigidBodyJoint_get_JointAxis(obj, localB->v_pt, localB); |
| 7905 | localB->axang_idx_0 = localB->v_pt[0]; |
| 7906 | localB->axang_idx_1 = localB->v_pt[1]; |
| 7907 | localB->axang_idx_2 = localB->v_pt[2]; |
| 7908 | localB->b_cj = 1.0 / sqrt((localB->axang_idx_0 * localB->axang_idx_0 + |
| 7909 | localB->axang_idx_1 * localB->axang_idx_1) + localB->axang_idx_2 * |
| 7910 | localB->axang_idx_2); |
| 7911 | localB->v_pt[0] = localB->axang_idx_0 * localB->b_cj; |
| 7912 | localB->v_pt[1] = localB->axang_idx_1 * localB->b_cj; |
| 7913 | localB->v_pt[2] = localB->axang_idx_2 * localB->b_cj; |
| 7914 | localB->axang_idx_0 = localB->v_pt[1] * localB->v_pt[0] * 0.0; |
| 7915 | localB->axang_idx_1 = localB->v_pt[2] * localB->v_pt[0] * 0.0; |
| 7916 | localB->axang_idx_2 = localB->v_pt[2] * localB->v_pt[1] * 0.0; |
| 7917 | cartesian_trajectory_planne_cat(localB->v_pt[0] * localB->v_pt[0] * 0.0 + |
| 7918 | 1.0, localB->axang_idx_0 - localB->v_pt[2] * 0.0, localB->axang_idx_1 + |
| 7919 | localB->v_pt[1] * 0.0, localB->axang_idx_0 + localB->v_pt[2] * 0.0, |
| 7920 | localB->v_pt[1] * localB->v_pt[1] * 0.0 + 1.0, localB->axang_idx_2 - |
| 7921 | localB->v_pt[0] * 0.0, localB->axang_idx_1 - localB->v_pt[1] * 0.0, |
| 7922 | localB->axang_idx_2 + localB->v_pt[0] * 0.0, localB->v_pt[2] * |
| 7923 | localB->v_pt[2] * 0.0 + 1.0, localB->tempR_a); |
| 7924 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 3; localB->b_kstr_a++) { |
| 7925 | localB->loop_ub_fn = localB->b_kstr_a + 1; |
| 7926 | localB->R_ax[localB->loop_ub_fn - 1] = localB->tempR_a[(localB->loop_ub_fn |
| 7927 | - 1) * 3]; |
| 7928 | localB->loop_ub_fn = localB->b_kstr_a + 1; |
| 7929 | localB->R_ax[localB->loop_ub_fn + 2] = localB->tempR_a[(localB->loop_ub_fn |
| 7930 | - 1) * 3 + 1]; |
| 7931 | localB->loop_ub_fn = localB->b_kstr_a + 1; |
| 7932 | localB->R_ax[localB->loop_ub_fn + 5] = localB->tempR_a[(localB->loop_ub_fn |
| 7933 | - 1) * 3 + 2]; |
| 7934 | } |
| 7935 | |
| 7936 | memset(&localB->TJ_l[0], 0, sizeof(real_T) << 4U); |
| 7937 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 3; localB->b_kstr_a++) { |
| 7938 | localB->loop_ub_fn = localB->b_kstr_a << 2; |
| 7939 | localB->TJ_l[localB->loop_ub_fn] = localB->R_ax[3 * localB->b_kstr_a]; |
| 7940 | localB->TJ_l[localB->loop_ub_fn + 1] = localB->R_ax[3 * localB->b_kstr_a + |
| 7941 | 1]; |
| 7942 | localB->TJ_l[localB->loop_ub_fn + 2] = localB->R_ax[3 * localB->b_kstr_a + |
| 7943 | 2]; |
| 7944 | } |
| 7945 | |
| 7946 | localB->TJ_l[15] = 1.0; |
| 7947 | break; |
| 7948 | |
| 7949 | default: |
| 7950 | ca_rigidBodyJoint_get_JointAxis(obj, localB->v_pt, localB); |
| 7951 | memset(&localB->tempR_a[0], 0, 9U * sizeof(real_T)); |
| 7952 | localB->tempR_a[0] = 1.0; |
| 7953 | localB->tempR_a[4] = 1.0; |
| 7954 | localB->tempR_a[8] = 1.0; |
| 7955 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 3; localB->b_kstr_a++) { |
| 7956 | localB->loop_ub_fn = localB->b_kstr_a << 2; |
| 7957 | localB->TJ_l[localB->loop_ub_fn] = localB->tempR_a[3 * localB->b_kstr_a]; |
| 7958 | localB->TJ_l[localB->loop_ub_fn + 1] = localB->tempR_a[3 * |
| 7959 | localB->b_kstr_a + 1]; |
| 7960 | localB->TJ_l[localB->loop_ub_fn + 2] = localB->tempR_a[3 * |
| 7961 | localB->b_kstr_a + 2]; |
| 7962 | localB->TJ_l[localB->b_kstr_a + 12] = localB->v_pt[localB->b_kstr_a] * 0.0; |
| 7963 | } |
| 7964 | |
| 7965 | localB->TJ_l[3] = 0.0; |
| 7966 | localB->TJ_l[7] = 0.0; |
| 7967 | localB->TJ_l[11] = 0.0; |
| 7968 | localB->TJ_l[15] = 1.0; |
| 7969 | break; |
| 7970 | } |
| 7971 | |
| 7972 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 16; localB->b_kstr_a++) { |
| 7973 | localB->a_j[localB->b_kstr_a] = obj->JointToParentTransform[localB->b_kstr_a]; |
| 7974 | } |
| 7975 | |
| 7976 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 16; localB->b_kstr_a++) { |
| 7977 | localB->b_d[localB->b_kstr_a] = obj->ChildToJointTransform[localB->b_kstr_a]; |
| 7978 | } |
| 7979 | |
| 7980 | for (localB->b_kstr_a = 0; localB->b_kstr_a < 4; localB->b_kstr_a++) { |
| 7981 | for (localB->loop_ub_fn = 0; localB->loop_ub_fn < 4; localB->loop_ub_fn++) { |
| 7982 | localB->a_tmp_tmp_k = localB->loop_ub_fn << 2; |
| 7983 | localB->a_tmp_j = localB->b_kstr_a + localB->a_tmp_tmp_k; |
| 7984 | localB->a_g[localB->a_tmp_j] = 0.0; |
| 7985 | localB->a_g[localB->a_tmp_j] += localB->TJ_l[localB->a_tmp_tmp_k] * |
| 7986 | localB->a_j[localB->b_kstr_a]; |
| 7987 | localB->a_g[localB->a_tmp_j] += localB->TJ_l[localB->a_tmp_tmp_k + 1] * |
| 7988 | localB->a_j[localB->b_kstr_a + 4]; |
| 7989 | localB->a_g[localB->a_tmp_j] += localB->TJ_l[localB->a_tmp_tmp_k + 2] * |
| 7990 | localB->a_j[localB->b_kstr_a + 8]; |
| 7991 | localB->a_g[localB->a_tmp_j] += localB->TJ_l[localB->a_tmp_tmp_k + 3] * |
| 7992 | localB->a_j[localB->b_kstr_a + 12]; |
| 7993 | } |
| 7994 | |
| 7995 | for (localB->loop_ub_fn = 0; localB->loop_ub_fn < 4; localB->loop_ub_fn++) { |
| 7996 | localB->a_tmp_tmp_k = localB->loop_ub_fn << 2; |
| 7997 | localB->a_tmp_j = localB->b_kstr_a + localB->a_tmp_tmp_k; |
| 7998 | T[localB->a_tmp_j] = 0.0; |
| 7999 | T[localB->a_tmp_j] += localB->b_d[localB->a_tmp_tmp_k] * localB-> |
| 8000 | a_g[localB->b_kstr_a]; |
| 8001 | T[localB->a_tmp_j] += localB->b_d[localB->a_tmp_tmp_k + 1] * localB-> |
| 8002 | a_g[localB->b_kstr_a + 4]; |
| 8003 | T[localB->a_tmp_j] += localB->b_d[localB->a_tmp_tmp_k + 2] * localB-> |
| 8004 | a_g[localB->b_kstr_a + 8]; |
| 8005 | T[localB->a_tmp_j] += localB->b_d[localB->a_tmp_tmp_k + 3] * localB-> |
| 8006 | a_g[localB->b_kstr_a + 12]; |
| 8007 | } |
| 8008 | } |
| 8009 | } |
| 8010 | |
| 8011 | static void rigidBodyJoint_transformBodyT_n(const |
| 8012 | c_rigidBodyJoint_cartesian_tr_T *obj, const real_T q_data[], const int32_T |
| 8013 | *q_size, real_T T[16], B_MATLABSystem_cartesian_traj_T *localB) |
| 8014 | { |
| 8015 | emxArray_char_T_cartesian_tra_T *switch_expression; |
| 8016 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 8017 | |
| 8018 | static const char_T tmp_0[8] = { 'r', 'e', 'v', 'o', 'l', 'u', 't', 'e' }; |
| 8019 | |
| 8020 | int32_T exitg1; |
| 8021 | cartesian_trajec_emxInit_char_T(&switch_expression, 2, localB); |
| 8022 | localB->b_kstr_i = switch_expression->size[0] * switch_expression->size[1]; |
| 8023 | switch_expression->size[0] = 1; |
| 8024 | switch_expression->size[1] = obj->Type->size[1]; |
| 8025 | cartes_emxEnsureCapacity_char_T(switch_expression, localB->b_kstr_i, localB); |
| 8026 | localB->loop_ub_f = obj->Type->size[0] * obj->Type->size[1] - 1; |
| 8027 | for (localB->b_kstr_i = 0; localB->b_kstr_i <= localB->loop_ub_f; |
| 8028 | localB->b_kstr_i++) { |
| 8029 | switch_expression->data[localB->b_kstr_i] = obj->Type->data[localB->b_kstr_i]; |
| 8030 | } |
| 8031 | |
| 8032 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 5; localB->b_kstr_i++) { |
| 8033 | localB->b_hp[localB->b_kstr_i] = tmp[localB->b_kstr_i]; |
| 8034 | } |
| 8035 | |
| 8036 | localB->b_bool_m = false; |
| 8037 | if (switch_expression->size[1] == 5) { |
| 8038 | localB->b_kstr_i = 1; |
| 8039 | do { |
| 8040 | exitg1 = 0; |
| 8041 | if (localB->b_kstr_i - 1 < 5) { |
| 8042 | localB->loop_ub_f = localB->b_kstr_i - 1; |
| 8043 | if (switch_expression->data[localB->loop_ub_f] != localB->b_hp |
| 8044 | [localB->loop_ub_f]) { |
| 8045 | exitg1 = 1; |
| 8046 | } else { |
| 8047 | localB->b_kstr_i++; |
| 8048 | } |
| 8049 | } else { |
| 8050 | localB->b_bool_m = true; |
| 8051 | exitg1 = 1; |
| 8052 | } |
| 8053 | } while (exitg1 == 0); |
| 8054 | } |
| 8055 | |
| 8056 | if (localB->b_bool_m) { |
| 8057 | localB->b_kstr_i = 0; |
| 8058 | } else { |
| 8059 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 8; localB->b_kstr_i++) { |
| 8060 | localB->b_h[localB->b_kstr_i] = tmp_0[localB->b_kstr_i]; |
| 8061 | } |
| 8062 | |
| 8063 | localB->b_bool_m = false; |
| 8064 | if (switch_expression->size[1] == 8) { |
| 8065 | localB->b_kstr_i = 1; |
| 8066 | do { |
| 8067 | exitg1 = 0; |
| 8068 | if (localB->b_kstr_i - 1 < 8) { |
| 8069 | localB->loop_ub_f = localB->b_kstr_i - 1; |
| 8070 | if (switch_expression->data[localB->loop_ub_f] != localB->b_h |
| 8071 | [localB->loop_ub_f]) { |
| 8072 | exitg1 = 1; |
| 8073 | } else { |
| 8074 | localB->b_kstr_i++; |
| 8075 | } |
| 8076 | } else { |
| 8077 | localB->b_bool_m = true; |
| 8078 | exitg1 = 1; |
| 8079 | } |
| 8080 | } while (exitg1 == 0); |
| 8081 | } |
| 8082 | |
| 8083 | if (localB->b_bool_m) { |
| 8084 | localB->b_kstr_i = 1; |
| 8085 | } else { |
| 8086 | localB->b_kstr_i = -1; |
| 8087 | } |
| 8088 | } |
| 8089 | |
| 8090 | cartesian_trajec_emxFree_char_T(&switch_expression); |
| 8091 | switch (localB->b_kstr_i) { |
| 8092 | case 0: |
| 8093 | memset(&localB->TJ[0], 0, sizeof(real_T) << 4U); |
| 8094 | localB->TJ[0] = 1.0; |
| 8095 | localB->TJ[5] = 1.0; |
| 8096 | localB->TJ[10] = 1.0; |
| 8097 | localB->TJ[15] = 1.0; |
| 8098 | break; |
| 8099 | |
| 8100 | case 1: |
| 8101 | ca_rigidBodyJoint_get_JointAxis(obj, localB->v_pe, localB); |
| 8102 | localB->loop_ub_f = (*q_size != 0) - 1; |
| 8103 | localB->result_data[0] = localB->v_pe[0]; |
| 8104 | localB->result_data[1] = localB->v_pe[1]; |
| 8105 | localB->result_data[2] = localB->v_pe[2]; |
| 8106 | for (localB->b_kstr_i = 0; localB->b_kstr_i <= localB->loop_ub_f; |
| 8107 | localB->b_kstr_i++) { |
| 8108 | localB->result_data[3] = q_data[0]; |
| 8109 | } |
| 8110 | |
| 8111 | localB->cth = 1.0 / sqrt((localB->result_data[0] * localB->result_data[0] + |
| 8112 | localB->result_data[1] * localB->result_data[1]) + localB->result_data[2] * |
| 8113 | localB->result_data[2]); |
| 8114 | localB->v_pe[0] = localB->result_data[0] * localB->cth; |
| 8115 | localB->v_pe[1] = localB->result_data[1] * localB->cth; |
| 8116 | localB->v_pe[2] = localB->result_data[2] * localB->cth; |
| 8117 | localB->cth = cos(localB->result_data[3]); |
| 8118 | localB->sth = sin(localB->result_data[3]); |
| 8119 | localB->tempR_tmp = localB->v_pe[1] * localB->v_pe[0] * (1.0 - localB->cth); |
| 8120 | localB->tempR_tmp_n = localB->v_pe[2] * localB->sth; |
| 8121 | localB->tempR_tmp_d = localB->v_pe[2] * localB->v_pe[0] * (1.0 - localB->cth); |
| 8122 | localB->tempR_tmp_na = localB->v_pe[1] * localB->sth; |
| 8123 | localB->tempR_tmp_c = localB->v_pe[2] * localB->v_pe[1] * (1.0 - localB->cth); |
| 8124 | localB->sth *= localB->v_pe[0]; |
| 8125 | cartesian_trajectory_planne_cat(localB->v_pe[0] * localB->v_pe[0] * (1.0 - |
| 8126 | localB->cth) + localB->cth, localB->tempR_tmp - localB->tempR_tmp_n, |
| 8127 | localB->tempR_tmp_d + localB->tempR_tmp_na, localB->tempR_tmp + |
| 8128 | localB->tempR_tmp_n, localB->v_pe[1] * localB->v_pe[1] * (1.0 - |
| 8129 | localB->cth) + localB->cth, localB->tempR_tmp_c - localB->sth, |
| 8130 | localB->tempR_tmp_d - localB->tempR_tmp_na, localB->tempR_tmp_c + |
| 8131 | localB->sth, localB->v_pe[2] * localB->v_pe[2] * (1.0 - localB->cth) + |
| 8132 | localB->cth, localB->tempR); |
| 8133 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 3; localB->b_kstr_i++) { |
| 8134 | localB->loop_ub_f = localB->b_kstr_i + 1; |
| 8135 | localB->R_e[localB->loop_ub_f - 1] = localB->tempR[(localB->loop_ub_f - 1) |
| 8136 | * 3]; |
| 8137 | localB->loop_ub_f = localB->b_kstr_i + 1; |
| 8138 | localB->R_e[localB->loop_ub_f + 2] = localB->tempR[(localB->loop_ub_f - 1) |
| 8139 | * 3 + 1]; |
| 8140 | localB->loop_ub_f = localB->b_kstr_i + 1; |
| 8141 | localB->R_e[localB->loop_ub_f + 5] = localB->tempR[(localB->loop_ub_f - 1) |
| 8142 | * 3 + 2]; |
| 8143 | } |
| 8144 | |
| 8145 | memset(&localB->TJ[0], 0, sizeof(real_T) << 4U); |
| 8146 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 3; localB->b_kstr_i++) { |
| 8147 | localB->loop_ub_f = localB->b_kstr_i << 2; |
| 8148 | localB->TJ[localB->loop_ub_f] = localB->R_e[3 * localB->b_kstr_i]; |
| 8149 | localB->TJ[localB->loop_ub_f + 1] = localB->R_e[3 * localB->b_kstr_i + 1]; |
| 8150 | localB->TJ[localB->loop_ub_f + 2] = localB->R_e[3 * localB->b_kstr_i + 2]; |
| 8151 | } |
| 8152 | |
| 8153 | localB->TJ[15] = 1.0; |
| 8154 | break; |
| 8155 | |
| 8156 | default: |
| 8157 | ca_rigidBodyJoint_get_JointAxis(obj, localB->v_pe, localB); |
| 8158 | memset(&localB->tempR[0], 0, 9U * sizeof(real_T)); |
| 8159 | localB->tempR[0] = 1.0; |
| 8160 | localB->tempR[4] = 1.0; |
| 8161 | localB->tempR[8] = 1.0; |
| 8162 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 3; localB->b_kstr_i++) { |
| 8163 | localB->loop_ub_f = localB->b_kstr_i << 2; |
| 8164 | localB->TJ[localB->loop_ub_f] = localB->tempR[3 * localB->b_kstr_i]; |
| 8165 | localB->TJ[localB->loop_ub_f + 1] = localB->tempR[3 * localB->b_kstr_i + 1]; |
| 8166 | localB->TJ[localB->loop_ub_f + 2] = localB->tempR[3 * localB->b_kstr_i + 2]; |
| 8167 | localB->TJ[localB->b_kstr_i + 12] = localB->v_pe[localB->b_kstr_i] * |
| 8168 | q_data[0]; |
| 8169 | } |
| 8170 | |
| 8171 | localB->TJ[3] = 0.0; |
| 8172 | localB->TJ[7] = 0.0; |
| 8173 | localB->TJ[11] = 0.0; |
| 8174 | localB->TJ[15] = 1.0; |
| 8175 | break; |
| 8176 | } |
| 8177 | |
| 8178 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 16; localB->b_kstr_i++) { |
| 8179 | localB->a[localB->b_kstr_i] = obj->JointToParentTransform[localB->b_kstr_i]; |
| 8180 | } |
| 8181 | |
| 8182 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 16; localB->b_kstr_i++) { |
| 8183 | localB->b[localB->b_kstr_i] = obj->ChildToJointTransform[localB->b_kstr_i]; |
| 8184 | } |
| 8185 | |
| 8186 | for (localB->b_kstr_i = 0; localB->b_kstr_i < 4; localB->b_kstr_i++) { |
| 8187 | for (localB->loop_ub_f = 0; localB->loop_ub_f < 4; localB->loop_ub_f++) { |
| 8188 | localB->a_tmp_tmp = localB->loop_ub_f << 2; |
| 8189 | localB->a_tmp = localB->b_kstr_i + localB->a_tmp_tmp; |
| 8190 | localB->a_p[localB->a_tmp] = 0.0; |
| 8191 | localB->a_p[localB->a_tmp] += localB->TJ[localB->a_tmp_tmp] * localB-> |
| 8192 | a[localB->b_kstr_i]; |
| 8193 | localB->a_p[localB->a_tmp] += localB->TJ[localB->a_tmp_tmp + 1] * |
| 8194 | localB->a[localB->b_kstr_i + 4]; |
| 8195 | localB->a_p[localB->a_tmp] += localB->TJ[localB->a_tmp_tmp + 2] * |
| 8196 | localB->a[localB->b_kstr_i + 8]; |
| 8197 | localB->a_p[localB->a_tmp] += localB->TJ[localB->a_tmp_tmp + 3] * |
| 8198 | localB->a[localB->b_kstr_i + 12]; |
| 8199 | } |
| 8200 | |
| 8201 | for (localB->loop_ub_f = 0; localB->loop_ub_f < 4; localB->loop_ub_f++) { |
| 8202 | localB->a_tmp_tmp = localB->loop_ub_f << 2; |
| 8203 | localB->a_tmp = localB->b_kstr_i + localB->a_tmp_tmp; |
| 8204 | T[localB->a_tmp] = 0.0; |
| 8205 | T[localB->a_tmp] += localB->b[localB->a_tmp_tmp] * localB->a_p |
| 8206 | [localB->b_kstr_i]; |
| 8207 | T[localB->a_tmp] += localB->b[localB->a_tmp_tmp + 1] * localB->a_p |
| 8208 | [localB->b_kstr_i + 4]; |
| 8209 | T[localB->a_tmp] += localB->b[localB->a_tmp_tmp + 2] * localB->a_p |
| 8210 | [localB->b_kstr_i + 8]; |
| 8211 | T[localB->a_tmp] += localB->b[localB->a_tmp_tmp + 3] * localB->a_p |
| 8212 | [localB->b_kstr_i + 12]; |
| 8213 | } |
| 8214 | } |
| 8215 | } |
| 8216 | |
| 8217 | static void RigidBodyTree_efficientFKAndJac(x_robotics_manip_internal_Rig_T *obj, |
| 8218 | const real_T qv[6], const emxArray_char_T_cartesian_tra_T *body1Name, real_T |
| 8219 | T_data[], int32_T T_size[2], emxArray_real_T_cartesian_tra_T *Jac, |
| 8220 | B_MATLABSystem_cartesian_traj_T *localB) |
| 8221 | { |
| 8222 | w_robotics_manip_internal_Rig_T *body1; |
| 8223 | w_robotics_manip_internal_Rig_T *body2; |
| 8224 | emxArray_real_T_cartesian_tra_T *kinematicPathIndices; |
| 8225 | c_rigidBodyJoint_cartesian_tr_T *joint; |
| 8226 | emxArray_char_T_cartesian_tra_T *body2Name; |
| 8227 | emxArray_real_T_cartesian_tra_T *ancestorIndices1; |
| 8228 | emxArray_real_T_cartesian_tra_T *ancestorIndices2; |
| 8229 | emxArray_real_T_cartesian_tra_T *y; |
| 8230 | emxArray_real_T_cartesian_tra_T *b; |
| 8231 | w_robotics_manip_internal_Rig_T *body; |
| 8232 | emxArray_char_T_cartesian_tra_T *bname; |
| 8233 | emxArray_real_T_cartesian_tra_T *ancestorIndices1_0; |
| 8234 | emxArray_real_T_cartesian_tra_T *ancestorIndices2_0; |
| 8235 | static const char_T tmp[5] = { 'f', 'i', 'x', 'e', 'd' }; |
| 8236 | |
| 8237 | boolean_T exitg1; |
| 8238 | int32_T exitg2; |
| 8239 | cartesian_trajec_emxInit_char_T(&body2Name, 2, localB); |
| 8240 | localB->b_kstr = body2Name->size[0] * body2Name->size[1]; |
| 8241 | body2Name->size[0] = 1; |
| 8242 | body2Name->size[1] = obj->Base.NameInternal->size[1]; |
| 8243 | cartes_emxEnsureCapacity_char_T(body2Name, localB->b_kstr, localB); |
| 8244 | localB->loop_ub_a = obj->Base.NameInternal->size[0] * obj-> |
| 8245 | Base.NameInternal->size[1] - 1; |
| 8246 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8247 | { |
| 8248 | body2Name->data[localB->b_kstr] = obj->Base.NameInternal->data |
| 8249 | [localB->b_kstr]; |
| 8250 | } |
| 8251 | |
| 8252 | cartesian_trajec_emxInit_char_T(&bname, 2, localB); |
| 8253 | localB->bid1 = -1.0; |
| 8254 | localB->b_kstr = bname->size[0] * bname->size[1]; |
| 8255 | bname->size[0] = 1; |
| 8256 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 8257 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr, localB); |
| 8258 | localB->loop_ub_a = obj->Base.NameInternal->size[0] * obj-> |
| 8259 | Base.NameInternal->size[1] - 1; |
| 8260 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8261 | { |
| 8262 | bname->data[localB->b_kstr] = obj->Base.NameInternal->data[localB->b_kstr]; |
| 8263 | } |
| 8264 | |
| 8265 | if (cartesian_trajectory_pla_strcmp(bname, body1Name)) { |
| 8266 | localB->bid1 = 0.0; |
| 8267 | } else { |
| 8268 | localB->qidx_idx_1 = obj->NumBodies; |
| 8269 | localB->b_i_e = 0; |
| 8270 | exitg1 = false; |
| 8271 | while ((!exitg1) && (localB->b_i_e <= static_cast<int32_T> |
| 8272 | (localB->qidx_idx_1) - 1)) { |
| 8273 | body1 = obj->Bodies[localB->b_i_e]; |
| 8274 | localB->b_kstr = bname->size[0] * bname->size[1]; |
| 8275 | bname->size[0] = 1; |
| 8276 | bname->size[1] = body1->NameInternal->size[1]; |
| 8277 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr, localB); |
| 8278 | localB->loop_ub_a = body1->NameInternal->size[0] * body1-> |
| 8279 | NameInternal->size[1] - 1; |
| 8280 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; |
| 8281 | localB->b_kstr++) { |
| 8282 | bname->data[localB->b_kstr] = body1->NameInternal->data[localB->b_kstr]; |
| 8283 | } |
| 8284 | |
| 8285 | if (cartesian_trajectory_pla_strcmp(bname, body1Name)) { |
| 8286 | localB->bid1 = static_cast<real_T>(localB->b_i_e) + 1.0; |
| 8287 | exitg1 = true; |
| 8288 | } else { |
| 8289 | localB->b_i_e++; |
| 8290 | } |
| 8291 | } |
| 8292 | } |
| 8293 | |
| 8294 | localB->bid2 = -1.0; |
| 8295 | localB->b_kstr = bname->size[0] * bname->size[1]; |
| 8296 | bname->size[0] = 1; |
| 8297 | bname->size[1] = obj->Base.NameInternal->size[1]; |
| 8298 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr, localB); |
| 8299 | localB->loop_ub_a = obj->Base.NameInternal->size[0] * obj-> |
| 8300 | Base.NameInternal->size[1] - 1; |
| 8301 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8302 | { |
| 8303 | bname->data[localB->b_kstr] = obj->Base.NameInternal->data[localB->b_kstr]; |
| 8304 | } |
| 8305 | |
| 8306 | if (cartesian_trajectory_pla_strcmp(bname, body2Name)) { |
| 8307 | localB->bid2 = 0.0; |
| 8308 | } else { |
| 8309 | localB->qidx_idx_1 = obj->NumBodies; |
| 8310 | localB->b_i_e = 0; |
| 8311 | exitg1 = false; |
| 8312 | while ((!exitg1) && (localB->b_i_e <= static_cast<int32_T> |
| 8313 | (localB->qidx_idx_1) - 1)) { |
| 8314 | body1 = obj->Bodies[localB->b_i_e]; |
| 8315 | localB->b_kstr = bname->size[0] * bname->size[1]; |
| 8316 | bname->size[0] = 1; |
| 8317 | bname->size[1] = body1->NameInternal->size[1]; |
| 8318 | cartes_emxEnsureCapacity_char_T(bname, localB->b_kstr, localB); |
| 8319 | localB->loop_ub_a = body1->NameInternal->size[0] * body1-> |
| 8320 | NameInternal->size[1] - 1; |
| 8321 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; |
| 8322 | localB->b_kstr++) { |
| 8323 | bname->data[localB->b_kstr] = body1->NameInternal->data[localB->b_kstr]; |
| 8324 | } |
| 8325 | |
| 8326 | if (cartesian_trajectory_pla_strcmp(bname, body2Name)) { |
| 8327 | localB->bid2 = static_cast<real_T>(localB->b_i_e) + 1.0; |
| 8328 | exitg1 = true; |
| 8329 | } else { |
| 8330 | localB->b_i_e++; |
| 8331 | } |
| 8332 | } |
| 8333 | } |
| 8334 | |
| 8335 | cartesian_trajec_emxFree_char_T(&bname); |
| 8336 | if (localB->bid1 == 0.0) { |
| 8337 | body1 = &obj->Base; |
| 8338 | } else { |
| 8339 | body1 = obj->Bodies[static_cast<int32_T>(localB->bid1) - 1]; |
| 8340 | } |
| 8341 | |
| 8342 | if (localB->bid2 == 0.0) { |
| 8343 | body2 = &obj->Base; |
| 8344 | } else { |
| 8345 | body2 = obj->Bodies[static_cast<int32_T>(localB->bid2) - 1]; |
| 8346 | } |
| 8347 | |
| 8348 | cartesian_trajec_emxInit_real_T(&ancestorIndices1, 2, localB); |
| 8349 | body = body1; |
| 8350 | localB->b_kstr = ancestorIndices1->size[0] * ancestorIndices1->size[1]; |
| 8351 | ancestorIndices1->size[0] = 1; |
| 8352 | ancestorIndices1->size[1] = static_cast<int32_T>(obj->NumBodies + 1.0); |
| 8353 | cartes_emxEnsureCapacity_real_T(ancestorIndices1, localB->b_kstr, localB); |
| 8354 | localB->loop_ub_a = static_cast<int32_T>(obj->NumBodies + 1.0) - 1; |
| 8355 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8356 | { |
| 8357 | ancestorIndices1->data[localB->b_kstr] = 0.0; |
| 8358 | } |
| 8359 | |
| 8360 | localB->bid1 = 2.0; |
| 8361 | ancestorIndices1->data[0] = body1->Index; |
| 8362 | while (body->ParentIndex > 0.0) { |
| 8363 | body = obj->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 8364 | ancestorIndices1->data[static_cast<int32_T>(localB->bid1) - 1] = body->Index; |
| 8365 | localB->bid1++; |
| 8366 | } |
| 8367 | |
| 8368 | if (body->Index > 0.0) { |
| 8369 | ancestorIndices1->data[static_cast<int32_T>(localB->bid1) - 1] = |
| 8370 | body->ParentIndex; |
| 8371 | localB->bid1++; |
| 8372 | } |
| 8373 | |
| 8374 | cartesian_trajec_emxInit_real_T(&ancestorIndices1_0, 2, localB); |
| 8375 | localB->loop_ub_a = static_cast<int32_T>(localB->bid1 - 1.0); |
| 8376 | localB->b_kstr = ancestorIndices1_0->size[0] * ancestorIndices1_0->size[1]; |
| 8377 | ancestorIndices1_0->size[0] = 1; |
| 8378 | ancestorIndices1_0->size[1] = localB->loop_ub_a; |
| 8379 | cartes_emxEnsureCapacity_real_T(ancestorIndices1_0, localB->b_kstr, localB); |
| 8380 | for (localB->b_kstr = 0; localB->b_kstr < localB->loop_ub_a; localB->b_kstr++) |
| 8381 | { |
| 8382 | ancestorIndices1_0->data[localB->b_kstr] = ancestorIndices1->data |
| 8383 | [localB->b_kstr]; |
| 8384 | } |
| 8385 | |
| 8386 | localB->b_kstr = ancestorIndices1->size[0] * ancestorIndices1->size[1]; |
| 8387 | ancestorIndices1->size[0] = 1; |
| 8388 | ancestorIndices1->size[1] = ancestorIndices1_0->size[1]; |
| 8389 | cartes_emxEnsureCapacity_real_T(ancestorIndices1, localB->b_kstr, localB); |
| 8390 | localB->loop_ub_a = ancestorIndices1_0->size[0] * ancestorIndices1_0->size[1]; |
| 8391 | for (localB->b_kstr = 0; localB->b_kstr < localB->loop_ub_a; localB->b_kstr++) |
| 8392 | { |
| 8393 | ancestorIndices1->data[localB->b_kstr] = ancestorIndices1_0->data |
| 8394 | [localB->b_kstr]; |
| 8395 | } |
| 8396 | |
| 8397 | cartesian_trajec_emxFree_real_T(&ancestorIndices1_0); |
| 8398 | cartesian_trajec_emxInit_real_T(&ancestorIndices2, 2, localB); |
| 8399 | body = body2; |
| 8400 | localB->b_kstr = ancestorIndices2->size[0] * ancestorIndices2->size[1]; |
| 8401 | ancestorIndices2->size[0] = 1; |
| 8402 | ancestorIndices2->size[1] = static_cast<int32_T>(obj->NumBodies + 1.0); |
| 8403 | cartes_emxEnsureCapacity_real_T(ancestorIndices2, localB->b_kstr, localB); |
| 8404 | localB->loop_ub_a = static_cast<int32_T>(obj->NumBodies + 1.0) - 1; |
| 8405 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8406 | { |
| 8407 | ancestorIndices2->data[localB->b_kstr] = 0.0; |
| 8408 | } |
| 8409 | |
| 8410 | localB->bid1 = 2.0; |
| 8411 | ancestorIndices2->data[0] = body2->Index; |
| 8412 | while (body->ParentIndex > 0.0) { |
| 8413 | body = obj->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 8414 | ancestorIndices2->data[static_cast<int32_T>(localB->bid1) - 1] = body->Index; |
| 8415 | localB->bid1++; |
| 8416 | } |
| 8417 | |
| 8418 | if (body->Index > 0.0) { |
| 8419 | ancestorIndices2->data[static_cast<int32_T>(localB->bid1) - 1] = |
| 8420 | body->ParentIndex; |
| 8421 | localB->bid1++; |
| 8422 | } |
| 8423 | |
| 8424 | cartesian_trajec_emxInit_real_T(&ancestorIndices2_0, 2, localB); |
| 8425 | localB->loop_ub_a = static_cast<int32_T>(localB->bid1 - 1.0); |
| 8426 | localB->b_kstr = ancestorIndices2_0->size[0] * ancestorIndices2_0->size[1]; |
| 8427 | ancestorIndices2_0->size[0] = 1; |
| 8428 | ancestorIndices2_0->size[1] = localB->loop_ub_a; |
| 8429 | cartes_emxEnsureCapacity_real_T(ancestorIndices2_0, localB->b_kstr, localB); |
| 8430 | for (localB->b_kstr = 0; localB->b_kstr < localB->loop_ub_a; localB->b_kstr++) |
| 8431 | { |
| 8432 | ancestorIndices2_0->data[localB->b_kstr] = ancestorIndices2->data |
| 8433 | [localB->b_kstr]; |
| 8434 | } |
| 8435 | |
| 8436 | localB->b_kstr = ancestorIndices2->size[0] * ancestorIndices2->size[1]; |
| 8437 | ancestorIndices2->size[0] = 1; |
| 8438 | ancestorIndices2->size[1] = ancestorIndices2_0->size[1]; |
| 8439 | cartes_emxEnsureCapacity_real_T(ancestorIndices2, localB->b_kstr, localB); |
| 8440 | localB->loop_ub_a = ancestorIndices2_0->size[0] * ancestorIndices2_0->size[1]; |
| 8441 | for (localB->b_kstr = 0; localB->b_kstr < localB->loop_ub_a; localB->b_kstr++) |
| 8442 | { |
| 8443 | ancestorIndices2->data[localB->b_kstr] = ancestorIndices2_0->data |
| 8444 | [localB->b_kstr]; |
| 8445 | } |
| 8446 | |
| 8447 | cartesian_trajec_emxFree_real_T(&ancestorIndices2_0); |
| 8448 | localB->bid1 = ancestorIndices1->size[1]; |
| 8449 | localB->qidx_idx_1 = ancestorIndices2->size[1]; |
| 8450 | if (localB->bid1 < localB->qidx_idx_1) { |
| 8451 | localB->qidx_idx_1 = localB->bid1; |
| 8452 | } |
| 8453 | |
| 8454 | localB->bid1 = static_cast<int32_T>(localB->qidx_idx_1); |
| 8455 | localB->b_i_e = 0; |
| 8456 | exitg1 = false; |
| 8457 | while ((!exitg1) && (localB->b_i_e <= static_cast<int32_T>(localB->qidx_idx_1) |
| 8458 | - 2)) { |
| 8459 | if (ancestorIndices1->data[static_cast<int32_T>(static_cast<real_T> |
| 8460 | (ancestorIndices1->size[1]) - (static_cast<real_T>(localB->b_i_e) + 1.0)) |
| 8461 | - 1] != ancestorIndices2->data[static_cast<int32_T>(static_cast<real_T> |
| 8462 | (ancestorIndices2->size[1]) - (static_cast<real_T>(localB->b_i_e) + 1.0)) |
| 8463 | - 1]) { |
| 8464 | localB->bid1 = static_cast<real_T>(localB->b_i_e) + 1.0; |
| 8465 | exitg1 = true; |
| 8466 | } else { |
| 8467 | localB->b_i_e++; |
| 8468 | } |
| 8469 | } |
| 8470 | |
| 8471 | localB->qidx_idx_1 = static_cast<real_T>(ancestorIndices1->size[1]) - |
| 8472 | localB->bid1; |
| 8473 | if (1.0 > localB->qidx_idx_1) { |
| 8474 | localB->b_i_e = -1; |
| 8475 | } else { |
| 8476 | localB->b_i_e = static_cast<int32_T>(localB->qidx_idx_1) - 1; |
| 8477 | } |
| 8478 | |
| 8479 | localB->qidx_idx_1 = static_cast<real_T>(ancestorIndices2->size[1]) - |
| 8480 | localB->bid1; |
| 8481 | if (1.0 > localB->qidx_idx_1) { |
| 8482 | localB->j_e = 0; |
| 8483 | localB->jointSign = 1; |
| 8484 | localB->g = -1; |
| 8485 | } else { |
| 8486 | localB->j_e = static_cast<int32_T>(localB->qidx_idx_1) - 1; |
| 8487 | localB->jointSign = -1; |
| 8488 | localB->g = 0; |
| 8489 | } |
| 8490 | |
| 8491 | cartesian_trajec_emxInit_real_T(&kinematicPathIndices, 2, localB); |
| 8492 | localB->b_kstr = kinematicPathIndices->size[0] * kinematicPathIndices->size[1]; |
| 8493 | kinematicPathIndices->size[0] = 1; |
| 8494 | localB->loop_ub_a = div_s32_floor(localB->g - localB->j_e, localB->jointSign); |
| 8495 | kinematicPathIndices->size[1] = (localB->loop_ub_a + localB->b_i_e) + 3; |
| 8496 | cartes_emxEnsureCapacity_real_T(kinematicPathIndices, localB->b_kstr, localB); |
| 8497 | for (localB->b_kstr = 0; localB->b_kstr <= localB->b_i_e; localB->b_kstr++) { |
| 8498 | kinematicPathIndices->data[localB->b_kstr] = ancestorIndices1->data |
| 8499 | [localB->b_kstr]; |
| 8500 | } |
| 8501 | |
| 8502 | kinematicPathIndices->data[localB->b_i_e + 1] = ancestorIndices1->data[ |
| 8503 | static_cast<int32_T>((static_cast<real_T>(ancestorIndices1->size[1]) - |
| 8504 | localB->bid1) + 1.0) - 1]; |
| 8505 | cartesian_trajec_emxFree_real_T(&ancestorIndices1); |
| 8506 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8507 | { |
| 8508 | kinematicPathIndices->data[(localB->b_kstr + localB->b_i_e) + 2] = |
| 8509 | ancestorIndices2->data[localB->jointSign * localB->b_kstr + localB->j_e]; |
| 8510 | } |
| 8511 | |
| 8512 | cartesian_trajec_emxFree_real_T(&ancestorIndices2); |
| 8513 | memset(&localB->T1[0], 0, sizeof(real_T) << 4U); |
| 8514 | localB->T1[0] = 1.0; |
| 8515 | localB->T1[5] = 1.0; |
| 8516 | localB->T1[10] = 1.0; |
| 8517 | localB->T1[15] = 1.0; |
| 8518 | localB->b_kstr = Jac->size[0] * Jac->size[1]; |
| 8519 | Jac->size[0] = 6; |
| 8520 | Jac->size[1] = static_cast<int32_T>(obj->PositionNumber); |
| 8521 | cartes_emxEnsureCapacity_real_T(Jac, localB->b_kstr, localB); |
| 8522 | localB->loop_ub_a = 6 * static_cast<int32_T>(obj->PositionNumber) - 1; |
| 8523 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8524 | { |
| 8525 | Jac->data[localB->b_kstr] = 0.0; |
| 8526 | } |
| 8527 | |
| 8528 | localB->j_e = kinematicPathIndices->size[1] - 2; |
| 8529 | cartesian_trajec_emxInit_real_T(&y, 2, localB); |
| 8530 | cartesian_trajec_emxInit_real_T(&b, 2, localB); |
| 8531 | if (0 <= localB->j_e) { |
| 8532 | for (localB->b_kstr = 0; localB->b_kstr < 5; localB->b_kstr++) { |
| 8533 | localB->b_c2[localB->b_kstr] = tmp[localB->b_kstr]; |
| 8534 | } |
| 8535 | } |
| 8536 | |
| 8537 | for (localB->b_i_e = 0; localB->b_i_e <= localB->j_e; localB->b_i_e++) { |
| 8538 | if (kinematicPathIndices->data[localB->b_i_e] != 0.0) { |
| 8539 | body1 = obj->Bodies[static_cast<int32_T>(kinematicPathIndices->data |
| 8540 | [localB->b_i_e]) - 1]; |
| 8541 | } else { |
| 8542 | body1 = &obj->Base; |
| 8543 | } |
| 8544 | |
| 8545 | localB->b_kstr = static_cast<int32_T>((static_cast<real_T>(localB->b_i_e) + |
| 8546 | 1.0) + 1.0) - 1; |
| 8547 | if (kinematicPathIndices->data[localB->b_kstr] != 0.0) { |
| 8548 | body2 = obj->Bodies[static_cast<int32_T>(kinematicPathIndices->data |
| 8549 | [localB->b_kstr]) - 1]; |
| 8550 | } else { |
| 8551 | body2 = &obj->Base; |
| 8552 | } |
| 8553 | |
| 8554 | localB->nextBodyIsParent = (body2->Index == body1->ParentIndex); |
| 8555 | if (localB->nextBodyIsParent) { |
| 8556 | body2 = body1; |
| 8557 | localB->jointSign = 1; |
| 8558 | } else { |
| 8559 | localB->jointSign = -1; |
| 8560 | } |
| 8561 | |
| 8562 | joint = body2->JointInternal; |
| 8563 | localB->b_kstr = body2Name->size[0] * body2Name->size[1]; |
| 8564 | body2Name->size[0] = 1; |
| 8565 | body2Name->size[1] = joint->Type->size[1]; |
| 8566 | cartes_emxEnsureCapacity_char_T(body2Name, localB->b_kstr, localB); |
| 8567 | localB->loop_ub_a = joint->Type->size[0] * joint->Type->size[1] - 1; |
| 8568 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr |
| 8569 | ++) { |
| 8570 | body2Name->data[localB->b_kstr] = joint->Type->data[localB->b_kstr]; |
| 8571 | } |
| 8572 | |
| 8573 | localB->b_bool_p = false; |
| 8574 | if (body2Name->size[1] == 5) { |
| 8575 | localB->b_kstr = 1; |
| 8576 | do { |
| 8577 | exitg2 = 0; |
| 8578 | if (localB->b_kstr - 1 < 5) { |
| 8579 | localB->g = localB->b_kstr - 1; |
| 8580 | if (body2Name->data[localB->g] != localB->b_c2[localB->g]) { |
| 8581 | exitg2 = 1; |
| 8582 | } else { |
| 8583 | localB->b_kstr++; |
| 8584 | } |
| 8585 | } else { |
| 8586 | localB->b_bool_p = true; |
| 8587 | exitg2 = 1; |
| 8588 | } |
| 8589 | } while (exitg2 == 0); |
| 8590 | } |
| 8591 | |
| 8592 | if (localB->b_bool_p) { |
| 8593 | rigidBodyJoint_transformBodyToP(joint, localB->Tc2p, localB); |
| 8594 | } else { |
| 8595 | localB->b_kstr = static_cast<int32_T>(body2->Index); |
| 8596 | localB->bid1 = obj->PositionDoFMap[localB->b_kstr - 1]; |
| 8597 | localB->qidx_idx_1 = obj->PositionDoFMap[localB->b_kstr + 7]; |
| 8598 | if (localB->bid1 > localB->qidx_idx_1) { |
| 8599 | localB->g = 0; |
| 8600 | localB->b_kstr = -1; |
| 8601 | } else { |
| 8602 | localB->g = static_cast<int32_T>(localB->bid1) - 1; |
| 8603 | localB->b_kstr = static_cast<int32_T>(localB->qidx_idx_1) - 1; |
| 8604 | } |
| 8605 | |
| 8606 | localB->loop_ub_a = localB->b_kstr - localB->g; |
| 8607 | localB->qv_size = localB->loop_ub_a + 1; |
| 8608 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; |
| 8609 | localB->b_kstr++) { |
| 8610 | localB->qv_data[localB->b_kstr] = qv[localB->g + localB->b_kstr]; |
| 8611 | } |
| 8612 | |
| 8613 | rigidBodyJoint_transformBodyT_n(joint, localB->qv_data, &localB->qv_size, |
| 8614 | localB->Tc2p, localB); |
| 8615 | localB->b_kstr = static_cast<int32_T>(body2->Index); |
| 8616 | localB->bid1 = obj->VelocityDoFMap[localB->b_kstr - 1]; |
| 8617 | localB->qidx_idx_1 = obj->VelocityDoFMap[localB->b_kstr + 7]; |
| 8618 | if (localB->nextBodyIsParent) { |
| 8619 | for (localB->b_kstr = 0; localB->b_kstr < 16; localB->b_kstr++) { |
| 8620 | localB->Tj[localB->b_kstr] = joint->ChildToJointTransform |
| 8621 | [localB->b_kstr]; |
| 8622 | } |
| 8623 | } else { |
| 8624 | for (localB->b_kstr = 0; localB->b_kstr < 16; localB->b_kstr++) { |
| 8625 | localB->T1j[localB->b_kstr] = joint->JointToParentTransform |
| 8626 | [localB->b_kstr]; |
| 8627 | } |
| 8628 | |
| 8629 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8630 | localB->R[3 * localB->b_kstr] = localB->T1j[localB->b_kstr]; |
| 8631 | localB->R[3 * localB->b_kstr + 1] = localB->T1j[localB->b_kstr + 4]; |
| 8632 | localB->R[3 * localB->b_kstr + 2] = localB->T1j[localB->b_kstr + 8]; |
| 8633 | } |
| 8634 | |
| 8635 | for (localB->b_kstr = 0; localB->b_kstr < 9; localB->b_kstr++) { |
| 8636 | localB->R_a[localB->b_kstr] = -localB->R[localB->b_kstr]; |
| 8637 | } |
| 8638 | |
| 8639 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8640 | localB->g = localB->b_kstr << 2; |
| 8641 | localB->Tj[localB->g] = localB->R[3 * localB->b_kstr]; |
| 8642 | localB->Tj[localB->g + 1] = localB->R[3 * localB->b_kstr + 1]; |
| 8643 | localB->Tj[localB->g + 2] = localB->R[3 * localB->b_kstr + 2]; |
| 8644 | localB->Tj[localB->b_kstr + 12] = localB->R_a[localB->b_kstr + 6] * |
| 8645 | localB->T1j[14] + (localB->R_a[localB->b_kstr + 3] * localB->T1j[13] |
| 8646 | + localB->R_a[localB->b_kstr] * localB->T1j[12]); |
| 8647 | } |
| 8648 | |
| 8649 | localB->Tj[3] = 0.0; |
| 8650 | localB->Tj[7] = 0.0; |
| 8651 | localB->Tj[11] = 0.0; |
| 8652 | localB->Tj[15] = 1.0; |
| 8653 | } |
| 8654 | |
| 8655 | for (localB->b_kstr = 0; localB->b_kstr < 4; localB->b_kstr++) { |
| 8656 | for (localB->g = 0; localB->g < 4; localB->g++) { |
| 8657 | localB->loop_ub_a = localB->g << 2; |
| 8658 | localB->n_b = localB->b_kstr + localB->loop_ub_a; |
| 8659 | localB->T1j[localB->n_b] = 0.0; |
| 8660 | localB->T1j[localB->n_b] += localB->T1[localB->loop_ub_a] * localB-> |
| 8661 | Tj[localB->b_kstr]; |
| 8662 | localB->T1j[localB->n_b] += localB->T1[localB->loop_ub_a + 1] * |
| 8663 | localB->Tj[localB->b_kstr + 4]; |
| 8664 | localB->T1j[localB->n_b] += localB->T1[localB->loop_ub_a + 2] * |
| 8665 | localB->Tj[localB->b_kstr + 8]; |
| 8666 | localB->T1j[localB->n_b] += localB->T1[localB->loop_ub_a + 3] * |
| 8667 | localB->Tj[localB->b_kstr + 12]; |
| 8668 | } |
| 8669 | } |
| 8670 | |
| 8671 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8672 | localB->R[3 * localB->b_kstr] = localB->T1j[localB->b_kstr]; |
| 8673 | localB->R[3 * localB->b_kstr + 1] = localB->T1j[localB->b_kstr + 4]; |
| 8674 | localB->R[3 * localB->b_kstr + 2] = localB->T1j[localB->b_kstr + 8]; |
| 8675 | } |
| 8676 | |
| 8677 | for (localB->b_kstr = 0; localB->b_kstr < 9; localB->b_kstr++) { |
| 8678 | localB->R_a[localB->b_kstr] = -localB->R[localB->b_kstr]; |
| 8679 | } |
| 8680 | |
| 8681 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8682 | localB->g = localB->b_kstr << 2; |
| 8683 | localB->Tj[localB->g] = localB->R[3 * localB->b_kstr]; |
| 8684 | localB->Tj[localB->g + 1] = localB->R[3 * localB->b_kstr + 1]; |
| 8685 | localB->Tj[localB->g + 2] = localB->R[3 * localB->b_kstr + 2]; |
| 8686 | localB->Tj[localB->b_kstr + 12] = localB->R_a[localB->b_kstr + 6] * |
| 8687 | localB->T1j[14] + (localB->R_a[localB->b_kstr + 3] * localB->T1j[13] + |
| 8688 | localB->R_a[localB->b_kstr] * localB->T1j[12]); |
| 8689 | } |
| 8690 | |
| 8691 | localB->Tj[3] = 0.0; |
| 8692 | localB->Tj[7] = 0.0; |
| 8693 | localB->Tj[11] = 0.0; |
| 8694 | localB->Tj[15] = 1.0; |
| 8695 | localB->R[0] = 0.0; |
| 8696 | localB->R[3] = -localB->Tj[14]; |
| 8697 | localB->R[6] = localB->Tj[13]; |
| 8698 | localB->R[1] = localB->Tj[14]; |
| 8699 | localB->R[4] = 0.0; |
| 8700 | localB->R[7] = -localB->Tj[12]; |
| 8701 | localB->R[2] = -localB->Tj[13]; |
| 8702 | localB->R[5] = localB->Tj[12]; |
| 8703 | localB->R[8] = 0.0; |
| 8704 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8705 | for (localB->g = 0; localB->g < 3; localB->g++) { |
| 8706 | localB->loop_ub_a = localB->b_kstr + 3 * localB->g; |
| 8707 | localB->R_a[localB->loop_ub_a] = 0.0; |
| 8708 | localB->n_b = localB->g << 2; |
| 8709 | localB->R_a[localB->loop_ub_a] += localB->Tj[localB->n_b] * localB-> |
| 8710 | R[localB->b_kstr]; |
| 8711 | localB->R_a[localB->loop_ub_a] += localB->Tj[localB->n_b + 1] * |
| 8712 | localB->R[localB->b_kstr + 3]; |
| 8713 | localB->R_a[localB->loop_ub_a] += localB->Tj[localB->n_b + 2] * |
| 8714 | localB->R[localB->b_kstr + 6]; |
| 8715 | localB->X[localB->g + 6 * localB->b_kstr] = localB->Tj[(localB->b_kstr |
| 8716 | << 2) + localB->g]; |
| 8717 | localB->X[localB->g + 6 * (localB->b_kstr + 3)] = 0.0; |
| 8718 | } |
| 8719 | } |
| 8720 | |
| 8721 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8722 | localB->X[6 * localB->b_kstr + 3] = localB->R_a[3 * localB->b_kstr]; |
| 8723 | localB->g = localB->b_kstr << 2; |
| 8724 | localB->loop_ub_a = 6 * (localB->b_kstr + 3); |
| 8725 | localB->X[localB->loop_ub_a + 3] = localB->Tj[localB->g]; |
| 8726 | localB->X[6 * localB->b_kstr + 4] = localB->R_a[3 * localB->b_kstr + 1]; |
| 8727 | localB->X[localB->loop_ub_a + 4] = localB->Tj[localB->g + 1]; |
| 8728 | localB->X[6 * localB->b_kstr + 5] = localB->R_a[3 * localB->b_kstr + 2]; |
| 8729 | localB->X[localB->loop_ub_a + 5] = localB->Tj[localB->g + 2]; |
| 8730 | } |
| 8731 | |
| 8732 | localB->b_kstr = b->size[0] * b->size[1]; |
| 8733 | b->size[0] = 6; |
| 8734 | b->size[1] = joint->MotionSubspace->size[1]; |
| 8735 | cartes_emxEnsureCapacity_real_T(b, localB->b_kstr, localB); |
| 8736 | localB->loop_ub_a = joint->MotionSubspace->size[0] * joint-> |
| 8737 | MotionSubspace->size[1] - 1; |
| 8738 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; |
| 8739 | localB->b_kstr++) { |
| 8740 | b->data[localB->b_kstr] = joint->MotionSubspace->data[localB->b_kstr]; |
| 8741 | } |
| 8742 | |
| 8743 | localB->n_b = b->size[1] - 1; |
| 8744 | localB->b_kstr = y->size[0] * y->size[1]; |
| 8745 | y->size[0] = 6; |
| 8746 | y->size[1] = b->size[1]; |
| 8747 | cartes_emxEnsureCapacity_real_T(y, localB->b_kstr, localB); |
| 8748 | for (localB->b_kstr = 0; localB->b_kstr <= localB->n_b; localB->b_kstr++) |
| 8749 | { |
| 8750 | localB->coffset_tmp = localB->b_kstr * 6 - 1; |
| 8751 | for (localB->g = 0; localB->g < 6; localB->g++) { |
| 8752 | localB->bid2 = 0.0; |
| 8753 | for (localB->loop_ub_a = 0; localB->loop_ub_a < 6; localB->loop_ub_a++) |
| 8754 | { |
| 8755 | localB->bid2 += localB->X[localB->loop_ub_a * 6 + localB->g] * |
| 8756 | b->data[(localB->coffset_tmp + localB->loop_ub_a) + 1]; |
| 8757 | } |
| 8758 | |
| 8759 | y->data[(localB->coffset_tmp + localB->g) + 1] = localB->bid2; |
| 8760 | } |
| 8761 | } |
| 8762 | |
| 8763 | if (localB->bid1 > localB->qidx_idx_1) { |
| 8764 | localB->n_b = 0; |
| 8765 | } else { |
| 8766 | localB->n_b = static_cast<int32_T>(localB->bid1) - 1; |
| 8767 | } |
| 8768 | |
| 8769 | localB->loop_ub_a = y->size[1]; |
| 8770 | for (localB->b_kstr = 0; localB->b_kstr < localB->loop_ub_a; |
| 8771 | localB->b_kstr++) { |
| 8772 | for (localB->g = 0; localB->g < 6; localB->g++) { |
| 8773 | Jac->data[localB->g + 6 * (localB->n_b + localB->b_kstr)] = y->data[6 * |
| 8774 | localB->b_kstr + localB->g] * static_cast<real_T>(localB->jointSign); |
| 8775 | } |
| 8776 | } |
| 8777 | } |
| 8778 | |
| 8779 | if (localB->nextBodyIsParent) { |
| 8780 | for (localB->b_kstr = 0; localB->b_kstr < 4; localB->b_kstr++) { |
| 8781 | for (localB->g = 0; localB->g < 4; localB->g++) { |
| 8782 | localB->loop_ub_a = localB->g << 2; |
| 8783 | localB->jointSign = localB->b_kstr + localB->loop_ub_a; |
| 8784 | localB->T1j[localB->jointSign] = 0.0; |
| 8785 | localB->T1j[localB->jointSign] += localB->T1[localB->loop_ub_a] * |
| 8786 | localB->Tc2p[localB->b_kstr]; |
| 8787 | localB->T1j[localB->jointSign] += localB->T1[localB->loop_ub_a + 1] * |
| 8788 | localB->Tc2p[localB->b_kstr + 4]; |
| 8789 | localB->T1j[localB->jointSign] += localB->T1[localB->loop_ub_a + 2] * |
| 8790 | localB->Tc2p[localB->b_kstr + 8]; |
| 8791 | localB->T1j[localB->jointSign] += localB->T1[localB->loop_ub_a + 3] * |
| 8792 | localB->Tc2p[localB->b_kstr + 12]; |
| 8793 | } |
| 8794 | } |
| 8795 | |
| 8796 | memcpy(&localB->T1[0], &localB->T1j[0], sizeof(real_T) << 4U); |
| 8797 | } else { |
| 8798 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8799 | localB->R[3 * localB->b_kstr] = localB->Tc2p[localB->b_kstr]; |
| 8800 | localB->R[3 * localB->b_kstr + 1] = localB->Tc2p[localB->b_kstr + 4]; |
| 8801 | localB->R[3 * localB->b_kstr + 2] = localB->Tc2p[localB->b_kstr + 8]; |
| 8802 | } |
| 8803 | |
| 8804 | for (localB->b_kstr = 0; localB->b_kstr < 9; localB->b_kstr++) { |
| 8805 | localB->R_a[localB->b_kstr] = -localB->R[localB->b_kstr]; |
| 8806 | } |
| 8807 | |
| 8808 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8809 | localB->loop_ub_a = localB->b_kstr << 2; |
| 8810 | localB->T1j[localB->loop_ub_a] = localB->R[3 * localB->b_kstr]; |
| 8811 | localB->T1j[localB->loop_ub_a + 1] = localB->R[3 * localB->b_kstr + 1]; |
| 8812 | localB->T1j[localB->loop_ub_a + 2] = localB->R[3 * localB->b_kstr + 2]; |
| 8813 | localB->T1j[localB->b_kstr + 12] = localB->R_a[localB->b_kstr + 6] * |
| 8814 | localB->Tc2p[14] + (localB->R_a[localB->b_kstr + 3] * localB->Tc2p[13] |
| 8815 | + localB->R_a[localB->b_kstr] * localB->Tc2p[12]); |
| 8816 | } |
| 8817 | |
| 8818 | localB->T1j[3] = 0.0; |
| 8819 | localB->T1j[7] = 0.0; |
| 8820 | localB->T1j[11] = 0.0; |
| 8821 | localB->T1j[15] = 1.0; |
| 8822 | for (localB->b_kstr = 0; localB->b_kstr < 4; localB->b_kstr++) { |
| 8823 | for (localB->g = 0; localB->g < 4; localB->g++) { |
| 8824 | localB->jointSign = localB->g << 2; |
| 8825 | localB->loop_ub_a = localB->b_kstr + localB->jointSign; |
| 8826 | localB->Tc2p[localB->loop_ub_a] = 0.0; |
| 8827 | localB->Tc2p[localB->loop_ub_a] += localB->T1[localB->jointSign] * |
| 8828 | localB->T1j[localB->b_kstr]; |
| 8829 | localB->Tc2p[localB->loop_ub_a] += localB->T1[localB->jointSign + 1] * |
| 8830 | localB->T1j[localB->b_kstr + 4]; |
| 8831 | localB->Tc2p[localB->loop_ub_a] += localB->T1[localB->jointSign + 2] * |
| 8832 | localB->T1j[localB->b_kstr + 8]; |
| 8833 | localB->Tc2p[localB->loop_ub_a] += localB->T1[localB->jointSign + 3] * |
| 8834 | localB->T1j[localB->b_kstr + 12]; |
| 8835 | } |
| 8836 | } |
| 8837 | |
| 8838 | memcpy(&localB->T1[0], &localB->Tc2p[0], sizeof(real_T) << 4U); |
| 8839 | } |
| 8840 | } |
| 8841 | |
| 8842 | cartesian_trajec_emxFree_real_T(&b); |
| 8843 | cartesian_trajec_emxFree_char_T(&body2Name); |
| 8844 | cartesian_trajec_emxFree_real_T(&kinematicPathIndices); |
| 8845 | for (localB->b_kstr = 0; localB->b_kstr < 3; localB->b_kstr++) { |
| 8846 | localB->b_i_e = localB->b_kstr << 2; |
| 8847 | localB->X[6 * localB->b_kstr] = localB->T1[localB->b_i_e]; |
| 8848 | localB->g = 6 * (localB->b_kstr + 3); |
| 8849 | localB->X[localB->g] = 0.0; |
| 8850 | localB->X[6 * localB->b_kstr + 3] = 0.0; |
| 8851 | localB->X[localB->g + 3] = localB->T1[localB->b_i_e]; |
| 8852 | localB->bid1 = localB->T1[localB->b_i_e + 1]; |
| 8853 | localB->X[6 * localB->b_kstr + 1] = localB->bid1; |
| 8854 | localB->X[localB->g + 1] = 0.0; |
| 8855 | localB->X[6 * localB->b_kstr + 4] = 0.0; |
| 8856 | localB->X[localB->g + 4] = localB->bid1; |
| 8857 | localB->bid1 = localB->T1[localB->b_i_e + 2]; |
| 8858 | localB->X[6 * localB->b_kstr + 2] = localB->bid1; |
| 8859 | localB->X[localB->g + 2] = 0.0; |
| 8860 | localB->X[6 * localB->b_kstr + 5] = 0.0; |
| 8861 | localB->X[localB->g + 5] = localB->bid1; |
| 8862 | } |
| 8863 | |
| 8864 | localB->n_b = Jac->size[1]; |
| 8865 | localB->b_kstr = y->size[0] * y->size[1]; |
| 8866 | y->size[0] = 6; |
| 8867 | y->size[1] = Jac->size[1]; |
| 8868 | cartes_emxEnsureCapacity_real_T(y, localB->b_kstr, localB); |
| 8869 | localB->loop_ub_a = Jac->size[0] * Jac->size[1] - 1; |
| 8870 | for (localB->b_kstr = 0; localB->b_kstr <= localB->loop_ub_a; localB->b_kstr++) |
| 8871 | { |
| 8872 | y->data[localB->b_kstr] = Jac->data[localB->b_kstr]; |
| 8873 | } |
| 8874 | |
| 8875 | localB->b_kstr = Jac->size[0] * Jac->size[1]; |
| 8876 | Jac->size[0] = 6; |
| 8877 | Jac->size[1] = localB->n_b; |
| 8878 | cartes_emxEnsureCapacity_real_T(Jac, localB->b_kstr, localB); |
| 8879 | for (localB->b_kstr = 0; localB->b_kstr < localB->n_b; localB->b_kstr++) { |
| 8880 | localB->coffset_tmp = localB->b_kstr * 6 - 1; |
| 8881 | for (localB->b_i_e = 0; localB->b_i_e < 6; localB->b_i_e++) { |
| 8882 | localB->bid2 = 0.0; |
| 8883 | for (localB->loop_ub_a = 0; localB->loop_ub_a < 6; localB->loop_ub_a++) { |
| 8884 | localB->bid2 += localB->X[localB->loop_ub_a * 6 + localB->b_i_e] * |
| 8885 | y->data[(localB->coffset_tmp + localB->loop_ub_a) + 1]; |
| 8886 | } |
| 8887 | |
| 8888 | Jac->data[(localB->coffset_tmp + localB->b_i_e) + 1] = localB->bid2; |
| 8889 | } |
| 8890 | } |
| 8891 | |
| 8892 | cartesian_trajec_emxFree_real_T(&y); |
| 8893 | T_size[0] = 4; |
| 8894 | T_size[1] = 4; |
| 8895 | memcpy(&T_data[0], &localB->T1[0], sizeof(real_T) << 4U); |
| 8896 | } |
| 8897 | |
| 8898 | real_T rt_hypotd_snf(real_T u0, real_T u1) |
| 8899 | { |
| 8900 | real_T y; |
| 8901 | real_T a; |
| 8902 | a = fabs(u0); |
| 8903 | y = fabs(u1); |
| 8904 | if (a < y) { |
| 8905 | a /= y; |
| 8906 | y *= sqrt(a * a + 1.0); |
| 8907 | } else if (a > y) { |
| 8908 | y /= a; |
| 8909 | y = sqrt(y * y + 1.0) * a; |
| 8910 | } else { |
| 8911 | if (!rtIsNaN(y)) { |
| 8912 | y = a * 1.4142135623730951; |
| 8913 | } |
| 8914 | } |
| 8915 | |
| 8916 | return y; |
| 8917 | } |
| 8918 | |
| 8919 | static creal_T cartesian_trajectory_plann_sqrt(const creal_T x) |
| 8920 | { |
| 8921 | creal_T b_x; |
| 8922 | real_T absxr; |
| 8923 | real_T absxi; |
| 8924 | if (x.im == 0.0) { |
| 8925 | if (x.re < 0.0) { |
| 8926 | absxr = 0.0; |
| 8927 | absxi = sqrt(-x.re); |
| 8928 | } else { |
| 8929 | absxr = sqrt(x.re); |
| 8930 | absxi = 0.0; |
| 8931 | } |
| 8932 | } else if (x.re == 0.0) { |
| 8933 | if (x.im < 0.0) { |
| 8934 | absxr = sqrt(-x.im / 2.0); |
| 8935 | absxi = -absxr; |
| 8936 | } else { |
| 8937 | absxr = sqrt(x.im / 2.0); |
| 8938 | absxi = absxr; |
| 8939 | } |
| 8940 | } else if (rtIsNaN(x.re)) { |
| 8941 | absxr = x.re; |
| 8942 | absxi = x.re; |
| 8943 | } else if (rtIsNaN(x.im)) { |
| 8944 | absxr = x.im; |
| 8945 | absxi = x.im; |
| 8946 | } else if (rtIsInf(x.im)) { |
| 8947 | absxr = fabs(x.im); |
| 8948 | absxi = x.im; |
| 8949 | } else if (rtIsInf(x.re)) { |
| 8950 | if (x.re < 0.0) { |
| 8951 | absxr = 0.0; |
| 8952 | absxi = x.im * -x.re; |
| 8953 | } else { |
| 8954 | absxr = x.re; |
| 8955 | absxi = 0.0; |
| 8956 | } |
| 8957 | } else { |
| 8958 | absxr = fabs(x.re); |
| 8959 | absxi = fabs(x.im); |
| 8960 | if ((absxr > 4.4942328371557893E+307) || (absxi > 4.4942328371557893E+307)) |
| 8961 | { |
| 8962 | absxr *= 0.5; |
| 8963 | absxi *= 0.5; |
| 8964 | absxi = rt_hypotd_snf(absxr, absxi); |
| 8965 | if (absxi > absxr) { |
| 8966 | absxr = sqrt(absxr / absxi + 1.0) * sqrt(absxi); |
| 8967 | } else { |
| 8968 | absxr = sqrt(absxi) * 1.4142135623730951; |
| 8969 | } |
| 8970 | } else { |
| 8971 | absxr = sqrt((rt_hypotd_snf(absxr, absxi) + absxr) * 0.5); |
| 8972 | } |
| 8973 | |
| 8974 | if (x.re > 0.0) { |
| 8975 | absxi = x.im / absxr * 0.5; |
| 8976 | } else { |
| 8977 | if (x.im < 0.0) { |
| 8978 | absxi = -absxr; |
| 8979 | } else { |
| 8980 | absxi = absxr; |
| 8981 | } |
| 8982 | |
| 8983 | absxr = x.im / absxi * 0.5; |
| 8984 | } |
| 8985 | } |
| 8986 | |
| 8987 | b_x.re = absxr; |
| 8988 | b_x.im = absxi; |
| 8989 | return b_x; |
| 8990 | } |
| 8991 | |
| 8992 | real_T rt_atan2d_snf(real_T u0, real_T u1) |
| 8993 | { |
| 8994 | real_T y; |
| 8995 | int32_T u0_0; |
| 8996 | int32_T u1_0; |
| 8997 | if (rtIsNaN(u0) || rtIsNaN(u1)) { |
| 8998 | y = (rtNaN); |
| 8999 | } else if (rtIsInf(u0) && rtIsInf(u1)) { |
| 9000 | if (u0 > 0.0) { |
| 9001 | u0_0 = 1; |
| 9002 | } else { |
| 9003 | u0_0 = -1; |
| 9004 | } |
| 9005 | |
| 9006 | if (u1 > 0.0) { |
| 9007 | u1_0 = 1; |
| 9008 | } else { |
| 9009 | u1_0 = -1; |
| 9010 | } |
| 9011 | |
| 9012 | y = atan2(static_cast<real_T>(u0_0), static_cast<real_T>(u1_0)); |
| 9013 | } else if (u1 == 0.0) { |
| 9014 | if (u0 > 0.0) { |
| 9015 | y = RT_PI / 2.0; |
| 9016 | } else if (u0 < 0.0) { |
| 9017 | y = -(RT_PI / 2.0); |
| 9018 | } else { |
| 9019 | y = 0.0; |
| 9020 | } |
| 9021 | } else { |
| 9022 | y = atan2(u0, u1); |
| 9023 | } |
| 9024 | |
| 9025 | return y; |
| 9026 | } |
| 9027 | |
| 9028 | static real_T cartesian_trajectory_plan_xnrm2(int32_T n, const real_T x[9], |
| 9029 | int32_T ix0) |
| 9030 | { |
| 9031 | real_T y; |
| 9032 | real_T scale; |
| 9033 | int32_T kend; |
| 9034 | real_T absxk; |
| 9035 | real_T t; |
| 9036 | int32_T k; |
| 9037 | y = 0.0; |
| 9038 | scale = 3.3121686421112381E-170; |
| 9039 | kend = ix0 + n; |
| 9040 | for (k = ix0; k < kend; k++) { |
| 9041 | absxk = fabs(x[k - 1]); |
| 9042 | if (absxk > scale) { |
| 9043 | t = scale / absxk; |
| 9044 | y = y * t * t + 1.0; |
| 9045 | scale = absxk; |
| 9046 | } else { |
| 9047 | t = absxk / scale; |
| 9048 | y += t * t; |
| 9049 | } |
| 9050 | } |
| 9051 | |
| 9052 | return scale * sqrt(y); |
| 9053 | } |
| 9054 | |
| 9055 | static real_T cartesian_trajectory_pl_xnrm2_a(const real_T x[3], int32_T ix0) |
| 9056 | { |
| 9057 | real_T y; |
| 9058 | real_T scale; |
| 9059 | real_T absxk; |
| 9060 | real_T t; |
| 9061 | int32_T k; |
| 9062 | y = 0.0; |
| 9063 | scale = 3.3121686421112381E-170; |
| 9064 | for (k = ix0; k <= ix0 + 1; k++) { |
| 9065 | absxk = fabs(x[k - 1]); |
| 9066 | if (absxk > scale) { |
| 9067 | t = scale / absxk; |
| 9068 | y = y * t * t + 1.0; |
| 9069 | scale = absxk; |
| 9070 | } else { |
| 9071 | t = absxk / scale; |
| 9072 | y += t * t; |
| 9073 | } |
| 9074 | } |
| 9075 | |
| 9076 | return scale * sqrt(y); |
| 9077 | } |
| 9078 | |
| 9079 | static real_T cartesian_trajectory_plan_xdotc(int32_T n, const real_T x[9], |
| 9080 | int32_T ix0, const real_T y[9], int32_T iy0) |
| 9081 | { |
| 9082 | real_T d; |
| 9083 | int32_T ix; |
| 9084 | int32_T iy; |
| 9085 | int32_T k; |
| 9086 | d = 0.0; |
| 9087 | ix = ix0 - 1; |
| 9088 | iy = iy0 - 1; |
| 9089 | for (k = 0; k < n; k++) { |
| 9090 | d += x[ix] * y[iy]; |
| 9091 | ix++; |
| 9092 | iy++; |
| 9093 | } |
| 9094 | |
| 9095 | return d; |
| 9096 | } |
| 9097 | |
| 9098 | static void cartesian_trajectory_plan_xaxpy(int32_T n, real_T a, int32_T ix0, |
| 9099 | const real_T y[9], int32_T iy0, real_T b_y[9]) |
| 9100 | { |
| 9101 | int32_T ix; |
| 9102 | int32_T iy; |
| 9103 | int32_T k; |
| 9104 | memcpy(&b_y[0], &y[0], 9U * sizeof(real_T)); |
| 9105 | if (!(a == 0.0)) { |
| 9106 | ix = ix0; |
| 9107 | iy = iy0 - 1; |
| 9108 | for (k = 0; k < n; k++) { |
| 9109 | b_y[iy] += b_y[ix - 1] * a; |
| 9110 | ix++; |
| 9111 | iy++; |
| 9112 | } |
| 9113 | } |
| 9114 | } |
| 9115 | |
| 9116 | static void cartesian_trajectory__xaxpy_cxo(int32_T n, real_T a, const real_T x |
| 9117 | [9], int32_T ix0, real_T y[3], int32_T iy0) |
| 9118 | { |
| 9119 | int32_T ix; |
| 9120 | int32_T iy; |
| 9121 | int32_T k; |
| 9122 | if (!(a == 0.0)) { |
| 9123 | ix = ix0; |
| 9124 | iy = iy0 - 1; |
| 9125 | for (k = 0; k < n; k++) { |
| 9126 | y[iy] += x[ix - 1] * a; |
| 9127 | ix++; |
| 9128 | iy++; |
| 9129 | } |
| 9130 | } |
| 9131 | } |
| 9132 | |
| 9133 | static void cartesian_trajectory_p_xaxpy_cx(int32_T n, real_T a, const real_T x |
| 9134 | [3], int32_T ix0, const real_T y[9], int32_T iy0, real_T b_y[9]) |
| 9135 | { |
| 9136 | int32_T ix; |
| 9137 | int32_T iy; |
| 9138 | int32_T k; |
| 9139 | memcpy(&b_y[0], &y[0], 9U * sizeof(real_T)); |
| 9140 | if (!(a == 0.0)) { |
| 9141 | ix = ix0; |
| 9142 | iy = iy0 - 1; |
| 9143 | for (k = 0; k < n; k++) { |
| 9144 | b_y[iy] += x[ix - 1] * a; |
| 9145 | ix++; |
| 9146 | iy++; |
| 9147 | } |
| 9148 | } |
| 9149 | } |
| 9150 | |
| 9151 | static void cartesian_trajectory_plan_xrotg(real_T a, real_T b, real_T *b_a, |
| 9152 | real_T *b_b, real_T *c, real_T *s, B_MATLABSystem_cartesian_traj_T *localB) |
| 9153 | { |
| 9154 | localB->roe = b; |
| 9155 | localB->absa = fabs(a); |
| 9156 | localB->absb = fabs(b); |
| 9157 | if (localB->absa > localB->absb) { |
| 9158 | localB->roe = a; |
| 9159 | } |
| 9160 | |
| 9161 | localB->scale = localB->absa + localB->absb; |
| 9162 | if (localB->scale == 0.0) { |
| 9163 | *s = 0.0; |
| 9164 | *c = 1.0; |
| 9165 | *b_a = 0.0; |
| 9166 | *b_b = 0.0; |
| 9167 | } else { |
| 9168 | localB->ads = localB->absa / localB->scale; |
| 9169 | localB->bds = localB->absb / localB->scale; |
| 9170 | *b_a = sqrt(localB->ads * localB->ads + localB->bds * localB->bds) * |
| 9171 | localB->scale; |
| 9172 | if (localB->roe < 0.0) { |
| 9173 | *b_a = -*b_a; |
| 9174 | } |
| 9175 | |
| 9176 | *c = a / *b_a; |
| 9177 | *s = b / *b_a; |
| 9178 | if (localB->absa > localB->absb) { |
| 9179 | *b_b = *s; |
| 9180 | } else if (*c != 0.0) { |
| 9181 | *b_b = 1.0 / *c; |
| 9182 | } else { |
| 9183 | *b_b = 1.0; |
| 9184 | } |
| 9185 | } |
| 9186 | } |
| 9187 | |
| 9188 | static void cartesian_trajectory_plann_xrot(const real_T x[9], int32_T ix0, |
| 9189 | int32_T iy0, real_T c, real_T s, real_T b_x[9]) |
| 9190 | { |
| 9191 | int32_T ix; |
| 9192 | int32_T iy; |
| 9193 | real_T temp; |
| 9194 | memcpy(&b_x[0], &x[0], 9U * sizeof(real_T)); |
| 9195 | ix = ix0 - 1; |
| 9196 | iy = iy0 - 1; |
| 9197 | temp = c * b_x[ix] + s * b_x[iy]; |
| 9198 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 9199 | b_x[ix] = temp; |
| 9200 | iy++; |
| 9201 | ix++; |
| 9202 | temp = c * b_x[ix] + s * b_x[iy]; |
| 9203 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 9204 | b_x[ix] = temp; |
| 9205 | iy++; |
| 9206 | ix++; |
| 9207 | temp = c * b_x[ix] + s * b_x[iy]; |
| 9208 | b_x[iy] = c * b_x[iy] - s * b_x[ix]; |
| 9209 | b_x[ix] = temp; |
| 9210 | } |
| 9211 | |
| 9212 | static void cartesian_trajectory_plan_xswap(const real_T x[9], int32_T ix0, |
| 9213 | int32_T iy0, real_T b_x[9]) |
| 9214 | { |
| 9215 | int32_T ix; |
| 9216 | int32_T iy; |
| 9217 | real_T temp; |
| 9218 | memcpy(&b_x[0], &x[0], 9U * sizeof(real_T)); |
| 9219 | ix = ix0 - 1; |
| 9220 | iy = iy0 - 1; |
| 9221 | temp = b_x[ix]; |
| 9222 | b_x[ix] = b_x[iy]; |
| 9223 | b_x[iy] = temp; |
| 9224 | ix++; |
| 9225 | iy++; |
| 9226 | temp = b_x[ix]; |
| 9227 | b_x[ix] = b_x[iy]; |
| 9228 | b_x[iy] = temp; |
| 9229 | ix++; |
| 9230 | iy++; |
| 9231 | temp = b_x[ix]; |
| 9232 | b_x[ix] = b_x[iy]; |
| 9233 | b_x[iy] = temp; |
| 9234 | } |
| 9235 | |
| 9236 | static void cartesian_trajectory_planne_svd(const real_T A[9], real_T U[9], |
| 9237 | real_T s[3], real_T V[9], B_MATLABSystem_cartesian_traj_T *localB) |
| 9238 | { |
| 9239 | int32_T qq; |
| 9240 | boolean_T apply_transform; |
| 9241 | int32_T qjj; |
| 9242 | int32_T m; |
| 9243 | int32_T kase; |
| 9244 | int32_T c_q; |
| 9245 | int32_T d_k; |
| 9246 | boolean_T exitg1; |
| 9247 | localB->e_i[0] = 0.0; |
| 9248 | localB->work[0] = 0.0; |
| 9249 | localB->e_i[1] = 0.0; |
| 9250 | localB->work[1] = 0.0; |
| 9251 | localB->e_i[2] = 0.0; |
| 9252 | localB->work[2] = 0.0; |
| 9253 | for (m = 0; m < 9; m++) { |
| 9254 | localB->A[m] = A[m]; |
| 9255 | U[m] = 0.0; |
| 9256 | V[m] = 0.0; |
| 9257 | } |
| 9258 | |
| 9259 | apply_transform = false; |
| 9260 | localB->nrm = cartesian_trajectory_plan_xnrm2(3, localB->A, 1); |
| 9261 | if (localB->nrm > 0.0) { |
| 9262 | apply_transform = true; |
| 9263 | if (localB->A[0] < 0.0) { |
| 9264 | localB->s[0] = -localB->nrm; |
| 9265 | } else { |
| 9266 | localB->s[0] = localB->nrm; |
| 9267 | } |
| 9268 | |
| 9269 | if (fabs(localB->s[0]) >= 1.0020841800044864E-292) { |
| 9270 | localB->nrm = 1.0 / localB->s[0]; |
| 9271 | for (qq = 1; qq < 4; qq++) { |
| 9272 | localB->A[qq - 1] *= localB->nrm; |
| 9273 | } |
| 9274 | } else { |
| 9275 | for (qq = 1; qq < 4; qq++) { |
| 9276 | localB->A[qq - 1] /= localB->s[0]; |
| 9277 | } |
| 9278 | } |
| 9279 | |
| 9280 | localB->A[0]++; |
| 9281 | localB->s[0] = -localB->s[0]; |
| 9282 | } else { |
| 9283 | localB->s[0] = 0.0; |
| 9284 | } |
| 9285 | |
| 9286 | for (m = 2; m < 4; m++) { |
| 9287 | qjj = (m - 1) * 3 + 1; |
| 9288 | if (apply_transform) { |
| 9289 | memcpy(&localB->A_o[0], &localB->A[0], 9U * sizeof(real_T)); |
| 9290 | cartesian_trajectory_plan_xaxpy(3, -(cartesian_trajectory_plan_xdotc(3, |
| 9291 | localB->A, 1, localB->A, qjj) / localB->A[0]), 1, localB->A_o, qjj, |
| 9292 | localB->A); |
| 9293 | } |
| 9294 | |
| 9295 | localB->e_i[m - 1] = localB->A[qjj - 1]; |
| 9296 | } |
| 9297 | |
| 9298 | for (m = 1; m < 4; m++) { |
| 9299 | U[m - 1] = localB->A[m - 1]; |
| 9300 | } |
| 9301 | |
| 9302 | localB->nrm = cartesian_trajectory_pl_xnrm2_a(localB->e_i, 2); |
| 9303 | if (localB->nrm == 0.0) { |
| 9304 | localB->e_i[0] = 0.0; |
| 9305 | } else { |
| 9306 | if (localB->e_i[1] < 0.0) { |
| 9307 | localB->rt = -localB->nrm; |
| 9308 | localB->e_i[0] = -localB->nrm; |
| 9309 | } else { |
| 9310 | localB->rt = localB->nrm; |
| 9311 | localB->e_i[0] = localB->nrm; |
| 9312 | } |
| 9313 | |
| 9314 | if (fabs(localB->rt) >= 1.0020841800044864E-292) { |
| 9315 | localB->nrm = 1.0 / localB->rt; |
| 9316 | for (qq = 2; qq < 4; qq++) { |
| 9317 | localB->e_i[qq - 1] *= localB->nrm; |
| 9318 | } |
| 9319 | } else { |
| 9320 | for (qq = 2; qq < 4; qq++) { |
| 9321 | localB->e_i[qq - 1] /= localB->rt; |
| 9322 | } |
| 9323 | } |
| 9324 | |
| 9325 | localB->e_i[1]++; |
| 9326 | localB->e_i[0] = -localB->e_i[0]; |
| 9327 | for (m = 2; m < 4; m++) { |
| 9328 | localB->work[m - 1] = 0.0; |
| 9329 | } |
| 9330 | |
| 9331 | for (m = 2; m < 4; m++) { |
| 9332 | cartesian_trajectory__xaxpy_cxo(2, localB->e_i[m - 1], localB->A, 3 * (m - |
| 9333 | 1) + 2, localB->work, 2); |
| 9334 | } |
| 9335 | |
| 9336 | for (m = 2; m < 4; m++) { |
| 9337 | memcpy(&localB->A_o[0], &localB->A[0], 9U * sizeof(real_T)); |
| 9338 | cartesian_trajectory_p_xaxpy_cx(2, -localB->e_i[m - 1] / localB->e_i[1], |
| 9339 | localB->work, 2, localB->A_o, (m - 1) * 3 + 2, localB->A); |
| 9340 | } |
| 9341 | } |
| 9342 | |
| 9343 | for (m = 2; m < 4; m++) { |
| 9344 | V[m - 1] = localB->e_i[m - 1]; |
| 9345 | } |
| 9346 | |
| 9347 | apply_transform = false; |
| 9348 | localB->nrm = cartesian_trajectory_plan_xnrm2(2, localB->A, 5); |
| 9349 | if (localB->nrm > 0.0) { |
| 9350 | apply_transform = true; |
| 9351 | if (localB->A[4] < 0.0) { |
| 9352 | localB->s[1] = -localB->nrm; |
| 9353 | } else { |
| 9354 | localB->s[1] = localB->nrm; |
| 9355 | } |
| 9356 | |
| 9357 | if (fabs(localB->s[1]) >= 1.0020841800044864E-292) { |
| 9358 | localB->nrm = 1.0 / localB->s[1]; |
| 9359 | for (qq = 5; qq < 7; qq++) { |
| 9360 | localB->A[qq - 1] *= localB->nrm; |
| 9361 | } |
| 9362 | } else { |
| 9363 | for (qq = 5; qq < 7; qq++) { |
| 9364 | localB->A[qq - 1] /= localB->s[1]; |
| 9365 | } |
| 9366 | } |
| 9367 | |
| 9368 | localB->A[4]++; |
| 9369 | localB->s[1] = -localB->s[1]; |
| 9370 | } else { |
| 9371 | localB->s[1] = 0.0; |
| 9372 | } |
| 9373 | |
| 9374 | if (apply_transform) { |
| 9375 | for (m = 3; m < 4; m++) { |
| 9376 | memcpy(&localB->A_o[0], &localB->A[0], 9U * sizeof(real_T)); |
| 9377 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, |
| 9378 | localB->A, 5, localB->A, 8) / localB->A[4]), 5, localB->A_o, 8, |
| 9379 | localB->A); |
| 9380 | } |
| 9381 | } |
| 9382 | |
| 9383 | for (m = 2; m < 4; m++) { |
| 9384 | U[m + 2] = localB->A[m + 2]; |
| 9385 | } |
| 9386 | |
| 9387 | m = 2; |
| 9388 | localB->s[2] = localB->A[8]; |
| 9389 | localB->e_i[1] = localB->A[7]; |
| 9390 | localB->e_i[2] = 0.0; |
| 9391 | U[6] = 0.0; |
| 9392 | U[7] = 0.0; |
| 9393 | U[8] = 1.0; |
| 9394 | for (c_q = 1; c_q >= 0; c_q--) { |
| 9395 | qq = 3 * c_q + c_q; |
| 9396 | if (localB->s[c_q] != 0.0) { |
| 9397 | for (kase = c_q + 2; kase < 4; kase++) { |
| 9398 | qjj = ((kase - 1) * 3 + c_q) + 1; |
| 9399 | memcpy(&localB->A[0], &U[0], 9U * sizeof(real_T)); |
| 9400 | cartesian_trajectory_plan_xaxpy(3 - c_q, |
| 9401 | -(cartesian_trajectory_plan_xdotc(3 - c_q, U, qq + 1, U, qjj) / U[qq]), |
| 9402 | qq + 1, localB->A, qjj, U); |
| 9403 | } |
| 9404 | |
| 9405 | for (qjj = c_q + 1; qjj < 4; qjj++) { |
| 9406 | kase = (3 * c_q + qjj) - 1; |
| 9407 | U[kase] = -U[kase]; |
| 9408 | } |
| 9409 | |
| 9410 | U[qq]++; |
| 9411 | if (0 <= c_q - 1) { |
| 9412 | U[3 * c_q] = 0.0; |
| 9413 | } |
| 9414 | } else { |
| 9415 | U[3 * c_q] = 0.0; |
| 9416 | U[3 * c_q + 1] = 0.0; |
| 9417 | U[3 * c_q + 2] = 0.0; |
| 9418 | U[qq] = 1.0; |
| 9419 | } |
| 9420 | } |
| 9421 | |
| 9422 | for (c_q = 2; c_q >= 0; c_q--) { |
| 9423 | if ((c_q + 1 <= 1) && (localB->e_i[0] != 0.0)) { |
| 9424 | memcpy(&localB->A[0], &V[0], 9U * sizeof(real_T)); |
| 9425 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, V, |
| 9426 | 2, V, 5) / V[1]), 2, localB->A, 5, V); |
| 9427 | memcpy(&localB->A[0], &V[0], 9U * sizeof(real_T)); |
| 9428 | cartesian_trajectory_plan_xaxpy(2, -(cartesian_trajectory_plan_xdotc(2, V, |
| 9429 | 2, V, 8) / V[1]), 2, localB->A, 8, V); |
| 9430 | } |
| 9431 | |
| 9432 | V[3 * c_q] = 0.0; |
| 9433 | V[3 * c_q + 1] = 0.0; |
| 9434 | V[3 * c_q + 2] = 0.0; |
| 9435 | V[c_q + 3 * c_q] = 1.0; |
| 9436 | } |
| 9437 | |
| 9438 | for (c_q = 0; c_q < 3; c_q++) { |
| 9439 | localB->ztest = localB->e_i[c_q]; |
| 9440 | if (localB->s[c_q] != 0.0) { |
| 9441 | localB->rt = fabs(localB->s[c_q]); |
| 9442 | localB->nrm = localB->s[c_q] / localB->rt; |
| 9443 | localB->s[c_q] = localB->rt; |
| 9444 | if (c_q + 1 < 3) { |
| 9445 | localB->ztest = localB->e_i[c_q] / localB->nrm; |
| 9446 | } |
| 9447 | |
| 9448 | qjj = 3 * c_q; |
| 9449 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 9450 | U[qq - 1] *= localB->nrm; |
| 9451 | } |
| 9452 | } |
| 9453 | |
| 9454 | if ((c_q + 1 < 3) && (localB->ztest != 0.0)) { |
| 9455 | localB->rt = fabs(localB->ztest); |
| 9456 | localB->nrm = localB->rt / localB->ztest; |
| 9457 | localB->ztest = localB->rt; |
| 9458 | localB->s[c_q + 1] *= localB->nrm; |
| 9459 | qjj = (c_q + 1) * 3; |
| 9460 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 9461 | V[qq - 1] *= localB->nrm; |
| 9462 | } |
| 9463 | } |
| 9464 | |
| 9465 | localB->e_i[c_q] = localB->ztest; |
| 9466 | } |
| 9467 | |
| 9468 | qq = 0; |
| 9469 | localB->nrm = 0.0; |
| 9470 | localB->ztest = fabs(localB->s[0]); |
| 9471 | localB->rt = fabs(localB->e_i[0]); |
| 9472 | if ((localB->ztest > localB->rt) || rtIsNaN(localB->rt)) { |
| 9473 | localB->rt = localB->ztest; |
| 9474 | } |
| 9475 | |
| 9476 | if (!rtIsNaN(localB->rt)) { |
| 9477 | localB->nrm = localB->rt; |
| 9478 | } |
| 9479 | |
| 9480 | localB->ztest = fabs(localB->s[1]); |
| 9481 | localB->rt = fabs(localB->e_i[1]); |
| 9482 | if ((localB->ztest > localB->rt) || rtIsNaN(localB->rt)) { |
| 9483 | localB->rt = localB->ztest; |
| 9484 | } |
| 9485 | |
| 9486 | if ((!(localB->nrm > localB->rt)) && (!rtIsNaN(localB->rt))) { |
| 9487 | localB->nrm = localB->rt; |
| 9488 | } |
| 9489 | |
| 9490 | localB->ztest = fabs(localB->s[2]); |
| 9491 | localB->rt = fabs(localB->e_i[2]); |
| 9492 | if ((localB->ztest > localB->rt) || rtIsNaN(localB->rt)) { |
| 9493 | localB->rt = localB->ztest; |
| 9494 | } |
| 9495 | |
| 9496 | if ((!(localB->nrm > localB->rt)) && (!rtIsNaN(localB->rt))) { |
| 9497 | localB->nrm = localB->rt; |
| 9498 | } |
| 9499 | |
| 9500 | while ((m + 1 > 0) && (!(qq >= 75))) { |
| 9501 | c_q = m; |
| 9502 | qjj = m; |
| 9503 | exitg1 = false; |
| 9504 | while ((!exitg1) && (qjj > -1)) { |
| 9505 | c_q = qjj; |
| 9506 | if (qjj == 0) { |
| 9507 | exitg1 = true; |
| 9508 | } else { |
| 9509 | localB->rt = fabs(localB->e_i[qjj - 1]); |
| 9510 | if ((localB->rt <= (fabs(localB->s[qjj - 1]) + fabs(localB->s[qjj])) * |
| 9511 | 2.2204460492503131E-16) || (localB->rt <= 1.0020841800044864E-292) || |
| 9512 | ((qq > 20) && (localB->rt <= 2.2204460492503131E-16 * localB->nrm))) |
| 9513 | { |
| 9514 | localB->e_i[qjj - 1] = 0.0; |
| 9515 | exitg1 = true; |
| 9516 | } else { |
| 9517 | qjj--; |
| 9518 | } |
| 9519 | } |
| 9520 | } |
| 9521 | |
| 9522 | if (c_q == m) { |
| 9523 | kase = 4; |
| 9524 | } else { |
| 9525 | qjj = m + 1; |
| 9526 | kase = m + 1; |
| 9527 | exitg1 = false; |
| 9528 | while ((!exitg1) && (kase >= c_q)) { |
| 9529 | qjj = kase; |
| 9530 | if (kase == c_q) { |
| 9531 | exitg1 = true; |
| 9532 | } else { |
| 9533 | localB->rt = 0.0; |
| 9534 | if (kase < m + 1) { |
| 9535 | localB->rt = fabs(localB->e_i[kase - 1]); |
| 9536 | } |
| 9537 | |
| 9538 | if (kase > c_q + 1) { |
| 9539 | localB->rt += fabs(localB->e_i[kase - 2]); |
| 9540 | } |
| 9541 | |
| 9542 | localB->ztest = fabs(localB->s[kase - 1]); |
| 9543 | if ((localB->ztest <= 2.2204460492503131E-16 * localB->rt) || |
| 9544 | (localB->ztest <= 1.0020841800044864E-292)) { |
| 9545 | localB->s[kase - 1] = 0.0; |
| 9546 | exitg1 = true; |
| 9547 | } else { |
| 9548 | kase--; |
| 9549 | } |
| 9550 | } |
| 9551 | } |
| 9552 | |
| 9553 | if (qjj == c_q) { |
| 9554 | kase = 3; |
| 9555 | } else if (m + 1 == qjj) { |
| 9556 | kase = 1; |
| 9557 | } else { |
| 9558 | kase = 2; |
| 9559 | c_q = qjj; |
| 9560 | } |
| 9561 | } |
| 9562 | |
| 9563 | switch (kase) { |
| 9564 | case 1: |
| 9565 | localB->rt = localB->e_i[m - 1]; |
| 9566 | localB->e_i[m - 1] = 0.0; |
| 9567 | for (qjj = m; qjj >= c_q + 1; qjj--) { |
| 9568 | localB->ztest = localB->e_i[0]; |
| 9569 | cartesian_trajectory_plan_xrotg(localB->s[qjj - 1], localB->rt, |
| 9570 | &localB->s[qjj - 1], &localB->rt, &localB->sqds, &localB->b_pr, localB); |
| 9571 | if (qjj > c_q + 1) { |
| 9572 | localB->rt = -localB->b_pr * localB->e_i[0]; |
| 9573 | localB->ztest = localB->e_i[0] * localB->sqds; |
| 9574 | } |
| 9575 | |
| 9576 | memcpy(&localB->A[0], &V[0], 9U * sizeof(real_T)); |
| 9577 | cartesian_trajectory_plann_xrot(localB->A, (qjj - 1) * 3 + 1, 3 * m + 1, |
| 9578 | localB->sqds, localB->b_pr, V); |
| 9579 | localB->e_i[0] = localB->ztest; |
| 9580 | } |
| 9581 | break; |
| 9582 | |
| 9583 | case 2: |
| 9584 | localB->rt = localB->e_i[c_q - 1]; |
| 9585 | localB->e_i[c_q - 1] = 0.0; |
| 9586 | for (qjj = c_q + 1; qjj <= m + 1; qjj++) { |
| 9587 | cartesian_trajectory_plan_xrotg(localB->s[qjj - 1], localB->rt, |
| 9588 | &localB->s[qjj - 1], &localB->ztest, &localB->sqds, &localB->b_pr, |
| 9589 | localB); |
| 9590 | localB->ztest = localB->e_i[qjj - 1]; |
| 9591 | localB->rt = localB->ztest * -localB->b_pr; |
| 9592 | localB->e_i[qjj - 1] = localB->ztest * localB->sqds; |
| 9593 | memcpy(&localB->A[0], &U[0], 9U * sizeof(real_T)); |
| 9594 | cartesian_trajectory_plann_xrot(localB->A, (qjj - 1) * 3 + 1, (c_q - 1) * |
| 9595 | 3 + 1, localB->sqds, localB->b_pr, U); |
| 9596 | } |
| 9597 | break; |
| 9598 | |
| 9599 | case 3: |
| 9600 | localB->ztest = fabs(localB->s[m]); |
| 9601 | localB->sqds = localB->s[m - 1]; |
| 9602 | localB->rt = fabs(localB->sqds); |
| 9603 | if ((localB->ztest > localB->rt) || rtIsNaN(localB->rt)) { |
| 9604 | localB->rt = localB->ztest; |
| 9605 | } |
| 9606 | |
| 9607 | localB->b_pr = localB->e_i[m - 1]; |
| 9608 | localB->ztest = fabs(localB->b_pr); |
| 9609 | if ((localB->rt > localB->ztest) || rtIsNaN(localB->ztest)) { |
| 9610 | localB->ztest = localB->rt; |
| 9611 | } |
| 9612 | |
| 9613 | localB->rt = fabs(localB->s[c_q]); |
| 9614 | if ((localB->ztest > localB->rt) || rtIsNaN(localB->rt)) { |
| 9615 | localB->rt = localB->ztest; |
| 9616 | } |
| 9617 | |
| 9618 | localB->ztest = fabs(localB->e_i[c_q]); |
| 9619 | if ((localB->rt > localB->ztest) || rtIsNaN(localB->ztest)) { |
| 9620 | localB->ztest = localB->rt; |
| 9621 | } |
| 9622 | |
| 9623 | localB->rt = localB->s[m] / localB->ztest; |
| 9624 | localB->smm1 = localB->sqds / localB->ztest; |
| 9625 | localB->emm1 = localB->b_pr / localB->ztest; |
| 9626 | localB->sqds = localB->s[c_q] / localB->ztest; |
| 9627 | localB->b_pr = ((localB->smm1 + localB->rt) * (localB->smm1 - localB->rt) |
| 9628 | + localB->emm1 * localB->emm1) / 2.0; |
| 9629 | localB->smm1 = localB->rt * localB->emm1; |
| 9630 | localB->smm1 *= localB->smm1; |
| 9631 | if ((localB->b_pr != 0.0) || (localB->smm1 != 0.0)) { |
| 9632 | localB->emm1 = sqrt(localB->b_pr * localB->b_pr + localB->smm1); |
| 9633 | if (localB->b_pr < 0.0) { |
| 9634 | localB->emm1 = -localB->emm1; |
| 9635 | } |
| 9636 | |
| 9637 | localB->emm1 = localB->smm1 / (localB->b_pr + localB->emm1); |
| 9638 | } else { |
| 9639 | localB->emm1 = 0.0; |
| 9640 | } |
| 9641 | |
| 9642 | localB->rt = (localB->sqds + localB->rt) * (localB->sqds - localB->rt) + |
| 9643 | localB->emm1; |
| 9644 | localB->sqds *= localB->e_i[c_q] / localB->ztest; |
| 9645 | for (d_k = c_q + 1; d_k <= m; d_k++) { |
| 9646 | cartesian_trajectory_plan_xrotg(localB->rt, localB->sqds, &localB->ztest, |
| 9647 | &localB->emm1, &localB->b_pr, &localB->smm1, localB); |
| 9648 | if (d_k > c_q + 1) { |
| 9649 | localB->e_i[0] = localB->ztest; |
| 9650 | } |
| 9651 | |
| 9652 | localB->ztest = localB->e_i[d_k - 1]; |
| 9653 | localB->rt = localB->s[d_k - 1]; |
| 9654 | localB->e_i[d_k - 1] = localB->ztest * localB->b_pr - localB->rt * |
| 9655 | localB->smm1; |
| 9656 | localB->sqds = localB->smm1 * localB->s[d_k]; |
| 9657 | localB->s[d_k] *= localB->b_pr; |
| 9658 | qjj = (d_k - 1) * 3 + 1; |
| 9659 | kase = 3 * d_k + 1; |
| 9660 | memcpy(&localB->A[0], &V[0], 9U * sizeof(real_T)); |
| 9661 | cartesian_trajectory_plann_xrot(localB->A, qjj, kase, localB->b_pr, |
| 9662 | localB->smm1, V); |
| 9663 | cartesian_trajectory_plan_xrotg(localB->rt * localB->b_pr + |
| 9664 | localB->ztest * localB->smm1, localB->sqds, &localB->s[d_k - 1], |
| 9665 | &localB->unusedU2, &localB->emm1, &localB->d_sn, localB); |
| 9666 | localB->rt = localB->e_i[d_k - 1] * localB->emm1 + localB->d_sn * |
| 9667 | localB->s[d_k]; |
| 9668 | localB->s[d_k] = localB->e_i[d_k - 1] * -localB->d_sn + localB->emm1 * |
| 9669 | localB->s[d_k]; |
| 9670 | localB->sqds = localB->d_sn * localB->e_i[d_k]; |
| 9671 | localB->e_i[d_k] *= localB->emm1; |
| 9672 | memcpy(&localB->A[0], &U[0], 9U * sizeof(real_T)); |
| 9673 | cartesian_trajectory_plann_xrot(localB->A, qjj, kase, localB->emm1, |
| 9674 | localB->d_sn, U); |
| 9675 | } |
| 9676 | |
| 9677 | localB->e_i[m - 1] = localB->rt; |
| 9678 | qq++; |
| 9679 | break; |
| 9680 | |
| 9681 | default: |
| 9682 | if (localB->s[c_q] < 0.0) { |
| 9683 | localB->s[c_q] = -localB->s[c_q]; |
| 9684 | qjj = 3 * c_q; |
| 9685 | for (qq = qjj + 1; qq <= qjj + 3; qq++) { |
| 9686 | V[qq - 1] = -V[qq - 1]; |
| 9687 | } |
| 9688 | } |
| 9689 | |
| 9690 | qq = c_q + 1; |
| 9691 | while ((c_q + 1 < 3) && (localB->s[c_q] < localB->s[qq])) { |
| 9692 | localB->rt = localB->s[c_q]; |
| 9693 | localB->s[c_q] = localB->s[qq]; |
| 9694 | localB->s[qq] = localB->rt; |
| 9695 | qjj = 3 * c_q + 1; |
| 9696 | kase = (c_q + 1) * 3 + 1; |
| 9697 | memcpy(&localB->A[0], &V[0], 9U * sizeof(real_T)); |
| 9698 | cartesian_trajectory_plan_xswap(localB->A, qjj, kase, V); |
| 9699 | memcpy(&localB->A[0], &U[0], 9U * sizeof(real_T)); |
| 9700 | cartesian_trajectory_plan_xswap(localB->A, qjj, kase, U); |
| 9701 | c_q = qq; |
| 9702 | qq++; |
| 9703 | } |
| 9704 | |
| 9705 | qq = 0; |
| 9706 | m--; |
| 9707 | break; |
| 9708 | } |
| 9709 | } |
| 9710 | |
| 9711 | s[0] = localB->s[0]; |
| 9712 | s[1] = localB->s[1]; |
| 9713 | s[2] = localB->s[2]; |
| 9714 | } |
| 9715 | |
| 9716 | static void cartesian_trajectory_rotm2axang(const real_T R[9], real_T axang[4], |
| 9717 | B_MATLABSystem_cartesian_traj_T *localB) |
| 9718 | { |
| 9719 | boolean_T e; |
| 9720 | boolean_T p; |
| 9721 | boolean_T rEQ0; |
| 9722 | int32_T loop_ub_tmp; |
| 9723 | boolean_T exitg1; |
| 9724 | localB->u.re = (((R[0] + R[4]) + R[8]) - 1.0) * 0.5; |
| 9725 | if (!(fabs(localB->u.re) > 1.0)) { |
| 9726 | localB->v_ox.re = acos(localB->u.re); |
| 9727 | } else { |
| 9728 | localB->u_k.re = localB->u.re + 1.0; |
| 9729 | localB->u_k.im = 0.0; |
| 9730 | localB->dc.re = 1.0 - localB->u.re; |
| 9731 | localB->dc.im = 0.0; |
| 9732 | localB->v_ox.re = 2.0 * rt_atan2d_snf((cartesian_trajectory_plann_sqrt |
| 9733 | (localB->dc)).re, (cartesian_trajectory_plann_sqrt(localB->u_k)).re); |
| 9734 | } |
| 9735 | |
| 9736 | localB->a_m = 2.0 * sin(localB->v_ox.re); |
| 9737 | localB->v_f[0] = (R[5] - R[7]) / localB->a_m; |
| 9738 | localB->v_f[1] = (R[6] - R[2]) / localB->a_m; |
| 9739 | localB->v_f[2] = (R[1] - R[3]) / localB->a_m; |
| 9740 | if (rtIsNaN(localB->v_ox.re) || rtIsInf(localB->v_ox.re)) { |
| 9741 | localB->a_m = (rtNaN); |
| 9742 | } else if (localB->v_ox.re == 0.0) { |
| 9743 | localB->a_m = 0.0; |
| 9744 | } else { |
| 9745 | localB->a_m = fmod(localB->v_ox.re, 3.1415926535897931); |
| 9746 | rEQ0 = (localB->a_m == 0.0); |
| 9747 | if (!rEQ0) { |
| 9748 | localB->q = fabs(localB->v_ox.re / 3.1415926535897931); |
| 9749 | rEQ0 = !(fabs(localB->q - floor(localB->q + 0.5)) > 2.2204460492503131E-16 |
| 9750 | * localB->q); |
| 9751 | } |
| 9752 | |
| 9753 | if (rEQ0) { |
| 9754 | localB->a_m = 0.0; |
| 9755 | } else { |
| 9756 | if (localB->v_ox.re < 0.0) { |
| 9757 | localB->a_m += 3.1415926535897931; |
| 9758 | } |
| 9759 | } |
| 9760 | } |
| 9761 | |
| 9762 | rEQ0 = (localB->a_m == 0.0); |
| 9763 | e = true; |
| 9764 | localB->b_k_b = 0; |
| 9765 | exitg1 = false; |
| 9766 | while ((!exitg1) && (localB->b_k_b < 3)) { |
| 9767 | if (!(localB->v_f[localB->b_k_b] == 0.0)) { |
| 9768 | e = false; |
| 9769 | exitg1 = true; |
| 9770 | } else { |
| 9771 | localB->b_k_b++; |
| 9772 | } |
| 9773 | } |
| 9774 | |
| 9775 | if (rEQ0 || e) { |
| 9776 | loop_ub_tmp = (rEQ0 || e); |
| 9777 | localB->loop_ub_os = loop_ub_tmp * 3 - 1; |
| 9778 | if (0 <= localB->loop_ub_os) { |
| 9779 | memset(&localB->vspecial_data[0], 0, (localB->loop_ub_os + 1) * sizeof |
| 9780 | (real_T)); |
| 9781 | } |
| 9782 | |
| 9783 | loop_ub_tmp--; |
| 9784 | for (localB->loop_ub_os = 0; localB->loop_ub_os <= loop_ub_tmp; |
| 9785 | localB->loop_ub_os++) { |
| 9786 | memset(&localB->b_I[0], 0, 9U * sizeof(real_T)); |
| 9787 | localB->b_I[0] = 1.0; |
| 9788 | localB->b_I[4] = 1.0; |
| 9789 | localB->b_I[8] = 1.0; |
| 9790 | p = true; |
| 9791 | for (localB->b_k_b = 0; localB->b_k_b < 9; localB->b_k_b++) { |
| 9792 | localB->a_m = localB->b_I[localB->b_k_b] - R[localB->b_k_b]; |
| 9793 | if (p && ((!rtIsInf(localB->a_m)) && (!rtIsNaN(localB->a_m)))) { |
| 9794 | } else { |
| 9795 | p = false; |
| 9796 | } |
| 9797 | |
| 9798 | localB->b_I[localB->b_k_b] = localB->a_m; |
| 9799 | } |
| 9800 | |
| 9801 | if (p) { |
| 9802 | cartesian_trajectory_planne_svd(localB->b_I, localB->b_U, |
| 9803 | localB->vspecial_data, localB->V_o, localB); |
| 9804 | } else { |
| 9805 | for (localB->b_k_b = 0; localB->b_k_b < 9; localB->b_k_b++) { |
| 9806 | localB->V_o[localB->b_k_b] = (rtNaN); |
| 9807 | } |
| 9808 | } |
| 9809 | |
| 9810 | localB->vspecial_data[0] = localB->V_o[6]; |
| 9811 | localB->vspecial_data[1] = localB->V_o[7]; |
| 9812 | localB->vspecial_data[2] = localB->V_o[8]; |
| 9813 | } |
| 9814 | |
| 9815 | loop_ub_tmp = 0; |
| 9816 | if (rEQ0 || e) { |
| 9817 | for (localB->loop_ub_os = 0; localB->loop_ub_os < 1; localB->loop_ub_os++) |
| 9818 | { |
| 9819 | loop_ub_tmp++; |
| 9820 | } |
| 9821 | } |
| 9822 | |
| 9823 | for (localB->b_k_b = 0; localB->b_k_b < loop_ub_tmp; localB->b_k_b++) { |
| 9824 | localB->v_f[0] = localB->vspecial_data[3 * localB->b_k_b]; |
| 9825 | localB->v_f[1] = localB->vspecial_data[3 * localB->b_k_b + 1]; |
| 9826 | localB->v_f[2] = localB->vspecial_data[3 * localB->b_k_b + 2]; |
| 9827 | } |
| 9828 | } |
| 9829 | |
| 9830 | localB->a_m = 1.0 / sqrt((localB->v_f[0] * localB->v_f[0] + localB->v_f[1] * |
| 9831 | localB->v_f[1]) + localB->v_f[2] * localB->v_f[2]); |
| 9832 | localB->v_f[0] *= localB->a_m; |
| 9833 | localB->v_f[1] *= localB->a_m; |
| 9834 | axang[0] = localB->v_f[0]; |
| 9835 | axang[1] = localB->v_f[1]; |
| 9836 | axang[2] = localB->v_f[2] * localB->a_m; |
| 9837 | axang[3] = localB->v_ox.re; |
| 9838 | } |
| 9839 | |
| 9840 | static void cartesian_IKHelpers_computeCost(const real_T x[6], |
| 9841 | f_robotics_manip_internal_IKE_T *args, real_T *cost, real_T W[36], |
| 9842 | emxArray_real_T_cartesian_tra_T *Jac, f_robotics_manip_internal_IKE_T **b_args, |
| 9843 | B_MATLABSystem_cartesian_traj_T *localB) |
| 9844 | { |
| 9845 | x_robotics_manip_internal_Rig_T *treeInternal; |
| 9846 | emxArray_char_T_cartesian_tra_T *bodyName; |
| 9847 | emxArray_real_T_cartesian_tra_T *J; |
| 9848 | emxArray_real_T_cartesian_tra_T *y; |
| 9849 | cartesian_trajec_emxInit_char_T(&bodyName, 2, localB); |
| 9850 | *b_args = args; |
| 9851 | treeInternal = args->Robot; |
| 9852 | localB->b_j_a = bodyName->size[0] * bodyName->size[1]; |
| 9853 | bodyName->size[0] = 1; |
| 9854 | bodyName->size[1] = args->BodyName->size[1]; |
| 9855 | cartes_emxEnsureCapacity_char_T(bodyName, localB->b_j_a, localB); |
| 9856 | localB->loop_ub_d = args->BodyName->size[0] * args->BodyName->size[1] - 1; |
| 9857 | for (localB->b_j_a = 0; localB->b_j_a <= localB->loop_ub_d; localB->b_j_a++) { |
| 9858 | bodyName->data[localB->b_j_a] = args->BodyName->data[localB->b_j_a]; |
| 9859 | } |
| 9860 | |
| 9861 | for (localB->b_j_a = 0; localB->b_j_a < 16; localB->b_j_a++) { |
| 9862 | localB->Td[localB->b_j_a] = args->Tform[localB->b_j_a]; |
| 9863 | } |
| 9864 | |
| 9865 | for (localB->b_j_a = 0; localB->b_j_a < 36; localB->b_j_a++) { |
| 9866 | W[localB->b_j_a] = args->WeightMatrix[localB->b_j_a]; |
| 9867 | } |
| 9868 | |
| 9869 | cartesian_trajec_emxInit_real_T(&J, 2, localB); |
| 9870 | RigidBodyTree_efficientFKAndJac(treeInternal, x, bodyName, localB->T_data, |
| 9871 | localB->T_size, J, localB); |
| 9872 | localB->b_j_a = Jac->size[0] * Jac->size[1]; |
| 9873 | Jac->size[0] = 6; |
| 9874 | Jac->size[1] = J->size[1]; |
| 9875 | cartes_emxEnsureCapacity_real_T(Jac, localB->b_j_a, localB); |
| 9876 | localB->loop_ub_d = J->size[0] * J->size[1] - 1; |
| 9877 | cartesian_trajec_emxFree_char_T(&bodyName); |
| 9878 | for (localB->b_j_a = 0; localB->b_j_a <= localB->loop_ub_d; localB->b_j_a++) { |
| 9879 | Jac->data[localB->b_j_a] = -J->data[localB->b_j_a]; |
| 9880 | } |
| 9881 | |
| 9882 | cartesian_trajec_emxFree_real_T(&J); |
| 9883 | for (localB->b_j_a = 0; localB->b_j_a < 3; localB->b_j_a++) { |
| 9884 | localB->T[3 * localB->b_j_a] = localB->T_data[localB->b_j_a]; |
| 9885 | localB->n_k = 3 * localB->b_j_a + 1; |
| 9886 | localB->T[localB->n_k] = localB->T_data[((localB->b_j_a + 1) + |
| 9887 | localB->T_size[0]) - 1]; |
| 9888 | localB->boffset_f = 3 * localB->b_j_a + 2; |
| 9889 | localB->T[localB->boffset_f] = localB->T_data[((localB->b_j_a + 1) + |
| 9890 | (localB->T_size[0] << 1)) - 1]; |
| 9891 | for (localB->loop_ub_d = 0; localB->loop_ub_d < 3; localB->loop_ub_d++) { |
| 9892 | localB->Td_tmp = localB->loop_ub_d + 3 * localB->b_j_a; |
| 9893 | localB->Td_p[localB->Td_tmp] = 0.0; |
| 9894 | localB->Td_p[localB->Td_tmp] += localB->T[3 * localB->b_j_a] * localB-> |
| 9895 | Td[localB->loop_ub_d]; |
| 9896 | localB->Td_p[localB->Td_tmp] += localB->T[localB->n_k] * localB->Td |
| 9897 | [localB->loop_ub_d + 4]; |
| 9898 | localB->Td_p[localB->Td_tmp] += localB->T[localB->boffset_f] * localB-> |
| 9899 | Td[localB->loop_ub_d + 8]; |
| 9900 | } |
| 9901 | } |
| 9902 | |
| 9903 | cartesian_trajectory_rotm2axang(localB->Td_p, localB->v, localB); |
| 9904 | localB->e[0] = localB->v[3] * localB->v[0]; |
| 9905 | localB->e[3] = localB->Td[12] - localB->T_data[localB->T_size[0] * 3]; |
| 9906 | localB->e[1] = localB->v[3] * localB->v[1]; |
| 9907 | localB->e[4] = localB->Td[13] - localB->T_data[localB->T_size[0] * 3 + 1]; |
| 9908 | localB->e[2] = localB->v[3] * localB->v[2]; |
| 9909 | localB->e[5] = localB->Td[14] - localB->T_data[localB->T_size[0] * 3 + 2]; |
| 9910 | localB->b_j_a = args->ErrTemp->size[0]; |
| 9911 | args->ErrTemp->size[0] = 6; |
| 9912 | cartes_emxEnsureCapacity_real_T(args->ErrTemp, localB->b_j_a, localB); |
| 9913 | for (localB->b_j_a = 0; localB->b_j_a < 6; localB->b_j_a++) { |
| 9914 | args->ErrTemp->data[localB->b_j_a] = localB->e[localB->b_j_a]; |
| 9915 | } |
| 9916 | |
| 9917 | for (localB->b_j_a = 0; localB->b_j_a < 6; localB->b_j_a++) { |
| 9918 | localB->y[localB->b_j_a] = 0.0; |
| 9919 | for (localB->loop_ub_d = 0; localB->loop_ub_d < 6; localB->loop_ub_d++) { |
| 9920 | localB->s_g = W[6 * localB->b_j_a + localB->loop_ub_d] * (0.5 * localB-> |
| 9921 | e[localB->loop_ub_d]) + localB->y[localB->b_j_a]; |
| 9922 | localB->y[localB->b_j_a] = localB->s_g; |
| 9923 | } |
| 9924 | } |
| 9925 | |
| 9926 | localB->s_g = 0.0; |
| 9927 | for (localB->b_j_a = 0; localB->b_j_a < 6; localB->b_j_a++) { |
| 9928 | localB->s_g += localB->y[localB->b_j_a] * localB->e[localB->b_j_a]; |
| 9929 | } |
| 9930 | |
| 9931 | args->CostTemp = localB->s_g; |
| 9932 | for (localB->b_j_a = 0; localB->b_j_a < 6; localB->b_j_a++) { |
| 9933 | localB->y[localB->b_j_a] = 0.0; |
| 9934 | for (localB->loop_ub_d = 0; localB->loop_ub_d < 6; localB->loop_ub_d++) { |
| 9935 | localB->s_g = W[6 * localB->b_j_a + localB->loop_ub_d] * localB->e |
| 9936 | [localB->loop_ub_d] + localB->y[localB->b_j_a]; |
| 9937 | localB->y[localB->b_j_a] = localB->s_g; |
| 9938 | } |
| 9939 | } |
| 9940 | |
| 9941 | cartesian_trajec_emxInit_real_T(&y, 2, localB); |
| 9942 | localB->n_k = Jac->size[1] - 1; |
| 9943 | localB->b_j_a = y->size[0] * y->size[1]; |
| 9944 | y->size[0] = 1; |
| 9945 | y->size[1] = Jac->size[1]; |
| 9946 | cartes_emxEnsureCapacity_real_T(y, localB->b_j_a, localB); |
| 9947 | for (localB->b_j_a = 0; localB->b_j_a <= localB->n_k; localB->b_j_a++) { |
| 9948 | localB->boffset_f = localB->b_j_a * 6 - 1; |
| 9949 | localB->s_g = 0.0; |
| 9950 | for (localB->loop_ub_d = 0; localB->loop_ub_d < 6; localB->loop_ub_d++) { |
| 9951 | localB->s_g += Jac->data[(localB->boffset_f + localB->loop_ub_d) + 1] * |
| 9952 | localB->y[localB->loop_ub_d]; |
| 9953 | } |
| 9954 | |
| 9955 | y->data[localB->b_j_a] = localB->s_g; |
| 9956 | } |
| 9957 | |
| 9958 | localB->b_j_a = args->GradTemp->size[0]; |
| 9959 | args->GradTemp->size[0] = y->size[1]; |
| 9960 | cartes_emxEnsureCapacity_real_T(args->GradTemp, localB->b_j_a, localB); |
| 9961 | localB->loop_ub_d = y->size[1]; |
| 9962 | for (localB->b_j_a = 0; localB->b_j_a < localB->loop_ub_d; localB->b_j_a++) { |
| 9963 | args->GradTemp->data[localB->b_j_a] = y->data[localB->b_j_a]; |
| 9964 | } |
| 9965 | |
| 9966 | cartesian_trajec_emxFree_real_T(&y); |
| 9967 | localB->s_g = args->CostTemp; |
| 9968 | *cost = localB->s_g; |
| 9969 | } |
| 9970 | |
| 9971 | static void cartesian_trajectory_planne_eye(real_T b_I[36]) |
| 9972 | { |
| 9973 | int32_T b_k; |
| 9974 | memset(&b_I[0], 0, 36U * sizeof(real_T)); |
| 9975 | for (b_k = 0; b_k < 6; b_k++) { |
| 9976 | b_I[b_k + 6 * b_k] = 1.0; |
| 9977 | } |
| 9978 | } |
| 9979 | |
| 9980 | static void cartesian_tra_emxInit_boolean_T(emxArray_boolean_T_cartesian__T |
| 9981 | **pEmxArray, int32_T numDimensions) |
| 9982 | { |
| 9983 | emxArray_boolean_T_cartesian__T *emxArray; |
| 9984 | int32_T i; |
| 9985 | *pEmxArray = (emxArray_boolean_T_cartesian__T *)malloc(sizeof |
| 9986 | (emxArray_boolean_T_cartesian__T)); |
| 9987 | emxArray = *pEmxArray; |
| 9988 | emxArray->data = (boolean_T *)NULL; |
| 9989 | emxArray->numDimensions = numDimensions; |
| 9990 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 9991 | emxArray->allocatedSize = 0; |
| 9992 | emxArray->canFreeData = true; |
| 9993 | for (i = 0; i < numDimensions; i++) { |
| 9994 | emxArray->size[i] = 0; |
| 9995 | } |
| 9996 | } |
| 9997 | |
| 9998 | static void cartesian_traje_emxInit_int32_T(emxArray_int32_T_cartesian_tr_T |
| 9999 | **pEmxArray, int32_T numDimensions) |
| 10000 | { |
| 10001 | emxArray_int32_T_cartesian_tr_T *emxArray; |
| 10002 | int32_T i; |
| 10003 | *pEmxArray = (emxArray_int32_T_cartesian_tr_T *)malloc(sizeof |
| 10004 | (emxArray_int32_T_cartesian_tr_T)); |
| 10005 | emxArray = *pEmxArray; |
| 10006 | emxArray->data = (int32_T *)NULL; |
| 10007 | emxArray->numDimensions = numDimensions; |
| 10008 | emxArray->size = (int32_T *)malloc(sizeof(int32_T) * numDimensions); |
| 10009 | emxArray->allocatedSize = 0; |
| 10010 | emxArray->canFreeData = true; |
| 10011 | for (i = 0; i < numDimensions; i++) { |
| 10012 | emxArray->size[i] = 0; |
| 10013 | } |
| 10014 | } |
| 10015 | |
| 10016 | static void car_emxEnsureCapacity_boolean_T(emxArray_boolean_T_cartesian__T |
| 10017 | *emxArray, int32_T oldNumel) |
| 10018 | { |
| 10019 | int32_T newNumel; |
| 10020 | int32_T i; |
| 10021 | void *newData; |
| 10022 | if (oldNumel < 0) { |
| 10023 | oldNumel = 0; |
| 10024 | } |
| 10025 | |
| 10026 | newNumel = 1; |
| 10027 | for (i = 0; i < emxArray->numDimensions; i++) { |
| 10028 | newNumel *= emxArray->size[i]; |
| 10029 | } |
| 10030 | |
| 10031 | if (newNumel > emxArray->allocatedSize) { |
| 10032 | i = emxArray->allocatedSize; |
| 10033 | if (i < 16) { |
| 10034 | i = 16; |
| 10035 | } |
| 10036 | |
| 10037 | while (i < newNumel) { |
| 10038 | if (i > 1073741823) { |
| 10039 | i = MAX_int32_T; |
| 10040 | } else { |
| 10041 | i <<= 1; |
| 10042 | } |
| 10043 | } |
| 10044 | |
| 10045 | newData = calloc(static_cast<uint32_T>(i), sizeof(boolean_T)); |
| 10046 | if (emxArray->data != NULL) { |
| 10047 | memcpy(newData, emxArray->data, sizeof(boolean_T) * oldNumel); |
| 10048 | if (emxArray->canFreeData) { |
| 10049 | free(emxArray->data); |
| 10050 | } |
| 10051 | } |
| 10052 | |
| 10053 | emxArray->data = (boolean_T *)newData; |
| 10054 | emxArray->allocatedSize = i; |
| 10055 | emxArray->canFreeData = true; |
| 10056 | } |
| 10057 | } |
| 10058 | |
| 10059 | static void carte_emxEnsureCapacity_int32_T(emxArray_int32_T_cartesian_tr_T |
| 10060 | *emxArray, int32_T oldNumel) |
| 10061 | { |
| 10062 | int32_T newNumel; |
| 10063 | int32_T i; |
| 10064 | void *newData; |
| 10065 | if (oldNumel < 0) { |
| 10066 | oldNumel = 0; |
| 10067 | } |
| 10068 | |
| 10069 | newNumel = 1; |
| 10070 | for (i = 0; i < emxArray->numDimensions; i++) { |
| 10071 | newNumel *= emxArray->size[i]; |
| 10072 | } |
| 10073 | |
| 10074 | if (newNumel > emxArray->allocatedSize) { |
| 10075 | i = emxArray->allocatedSize; |
| 10076 | if (i < 16) { |
| 10077 | i = 16; |
| 10078 | } |
| 10079 | |
| 10080 | while (i < newNumel) { |
| 10081 | if (i > 1073741823) { |
| 10082 | i = MAX_int32_T; |
| 10083 | } else { |
| 10084 | i <<= 1; |
| 10085 | } |
| 10086 | } |
| 10087 | |
| 10088 | newData = calloc(static_cast<uint32_T>(i), sizeof(int32_T)); |
| 10089 | if (emxArray->data != NULL) { |
| 10090 | memcpy(newData, emxArray->data, sizeof(int32_T) * oldNumel); |
| 10091 | if (emxArray->canFreeData) { |
| 10092 | free(emxArray->data); |
| 10093 | } |
| 10094 | } |
| 10095 | |
| 10096 | emxArray->data = (int32_T *)newData; |
| 10097 | emxArray->allocatedSize = i; |
| 10098 | emxArray->canFreeData = true; |
| 10099 | } |
| 10100 | } |
| 10101 | |
| 10102 | static real_T SystemTimeProvider_getElapsedTi(const |
| 10103 | f_robotics_core_internal_Syst_T *obj) |
| 10104 | { |
| 10105 | real_T systemTime; |
| 10106 | systemTime = ctimefun(); |
| 10107 | return systemTime - obj->StartTime; |
| 10108 | } |
| 10109 | |
| 10110 | static real_T cartesian_trajectory_pla_norm_j(const real_T x[6]) |
| 10111 | { |
| 10112 | real_T y; |
| 10113 | real_T scale; |
| 10114 | real_T absxk; |
| 10115 | real_T t; |
| 10116 | int32_T b_k; |
| 10117 | y = 0.0; |
| 10118 | scale = 3.3121686421112381E-170; |
| 10119 | for (b_k = 0; b_k < 6; b_k++) { |
| 10120 | absxk = fabs(x[b_k]); |
| 10121 | if (absxk > scale) { |
| 10122 | t = scale / absxk; |
| 10123 | y = y * t * t + 1.0; |
| 10124 | scale = absxk; |
| 10125 | } else { |
| 10126 | t = absxk / scale; |
| 10127 | y += t * t; |
| 10128 | } |
| 10129 | } |
| 10130 | |
| 10131 | return scale * sqrt(y); |
| 10132 | } |
| 10133 | |
| 10134 | static void cartesian_tra_emxFree_boolean_T(emxArray_boolean_T_cartesian__T |
| 10135 | **pEmxArray) |
| 10136 | { |
| 10137 | if (*pEmxArray != (emxArray_boolean_T_cartesian__T *)NULL) { |
| 10138 | if (((*pEmxArray)->data != (boolean_T *)NULL) && (*pEmxArray)->canFreeData) |
| 10139 | { |
| 10140 | free((*pEmxArray)->data); |
| 10141 | } |
| 10142 | |
| 10143 | free((*pEmxArray)->size); |
| 10144 | free(*pEmxArray); |
| 10145 | *pEmxArray = (emxArray_boolean_T_cartesian__T *)NULL; |
| 10146 | } |
| 10147 | } |
| 10148 | |
| 10149 | static boolean_T DampedBFGSwGradientProjection_a(const |
| 10150 | h_robotics_core_internal_Damp_T *obj, const real_T Hg[6], const |
| 10151 | emxArray_real_T_cartesian_tra_T *alpha) |
| 10152 | { |
| 10153 | boolean_T flag; |
| 10154 | boolean_T y; |
| 10155 | emxArray_boolean_T_cartesian__T *x; |
| 10156 | int32_T ix; |
| 10157 | int32_T loop_ub; |
| 10158 | boolean_T exitg1; |
| 10159 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 10160 | if (cartesian_trajectory_pla_norm_j(Hg) < obj->GradientTolerance) { |
| 10161 | ix = x->size[0]; |
| 10162 | x->size[0] = alpha->size[0]; |
| 10163 | car_emxEnsureCapacity_boolean_T(x, ix); |
| 10164 | loop_ub = alpha->size[0]; |
| 10165 | for (ix = 0; ix < loop_ub; ix++) { |
| 10166 | x->data[ix] = (alpha->data[ix] <= 0.0); |
| 10167 | } |
| 10168 | |
| 10169 | y = true; |
| 10170 | ix = 0; |
| 10171 | exitg1 = false; |
| 10172 | while ((!exitg1) && (ix + 1 <= x->size[0])) { |
| 10173 | if (!x->data[ix]) { |
| 10174 | y = false; |
| 10175 | exitg1 = true; |
| 10176 | } else { |
| 10177 | ix++; |
| 10178 | } |
| 10179 | } |
| 10180 | |
| 10181 | if (y) { |
| 10182 | flag = true; |
| 10183 | } else { |
| 10184 | flag = false; |
| 10185 | } |
| 10186 | } else { |
| 10187 | flag = false; |
| 10188 | } |
| 10189 | |
| 10190 | cartesian_tra_emxFree_boolean_T(&x); |
| 10191 | return flag; |
| 10192 | } |
| 10193 | |
| 10194 | static void cartesian_traje_emxFree_int32_T(emxArray_int32_T_cartesian_tr_T |
| 10195 | **pEmxArray) |
| 10196 | { |
| 10197 | if (*pEmxArray != (emxArray_int32_T_cartesian_tr_T *)NULL) { |
| 10198 | if (((*pEmxArray)->data != (int32_T *)NULL) && (*pEmxArray)->canFreeData) { |
| 10199 | free((*pEmxArray)->data); |
| 10200 | } |
| 10201 | |
| 10202 | free((*pEmxArray)->size); |
| 10203 | free(*pEmxArray); |
| 10204 | *pEmxArray = (emxArray_int32_T_cartesian_tr_T *)NULL; |
| 10205 | } |
| 10206 | } |
| 10207 | |
| 10208 | static void cartesian_trajectory_pl_xzgetrf(int32_T m, int32_T n, const |
| 10209 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, |
| 10210 | emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T *ipiv, |
| 10211 | int32_T *info, B_MATLABSystem_cartesian_traj_T *localB) |
| 10212 | { |
| 10213 | int32_T mmj; |
| 10214 | int32_T b; |
| 10215 | int32_T c; |
| 10216 | emxArray_real_T_cartesian_tra_T *c_x; |
| 10217 | int32_T ix; |
| 10218 | real_T smax; |
| 10219 | real_T s; |
| 10220 | int32_T iy; |
| 10221 | int32_T n_0; |
| 10222 | int32_T yk; |
| 10223 | int32_T k; |
| 10224 | int32_T jA; |
| 10225 | int32_T jy; |
| 10226 | int32_T c_0; |
| 10227 | int32_T c_tmp; |
| 10228 | k = b_A->size[0] * b_A->size[1]; |
| 10229 | b_A->size[0] = A->size[0]; |
| 10230 | b_A->size[1] = A->size[1]; |
| 10231 | cartes_emxEnsureCapacity_real_T(b_A, k, localB); |
| 10232 | iy = A->size[0] * A->size[1] - 1; |
| 10233 | for (k = 0; k <= iy; k++) { |
| 10234 | b_A->data[k] = A->data[k]; |
| 10235 | } |
| 10236 | |
| 10237 | if (m < n) { |
| 10238 | n_0 = m; |
| 10239 | } else { |
| 10240 | n_0 = n; |
| 10241 | } |
| 10242 | |
| 10243 | if (n_0 < 1) { |
| 10244 | n_0 = 0; |
| 10245 | } |
| 10246 | |
| 10247 | k = ipiv->size[0] * ipiv->size[1]; |
| 10248 | ipiv->size[0] = 1; |
| 10249 | ipiv->size[1] = n_0; |
| 10250 | carte_emxEnsureCapacity_int32_T(ipiv, k); |
| 10251 | if (n_0 > 0) { |
| 10252 | ipiv->data[0] = 1; |
| 10253 | yk = 1; |
| 10254 | for (k = 2; k <= n_0; k++) { |
| 10255 | yk++; |
| 10256 | ipiv->data[k - 1] = yk; |
| 10257 | } |
| 10258 | } |
| 10259 | |
| 10260 | yk = 0; |
| 10261 | cartesian_trajec_emxInit_real_T(&c_x, 2, localB); |
| 10262 | if ((m < 1) || (n < 1)) { |
| 10263 | } else { |
| 10264 | n_0 = m - 1; |
| 10265 | if (n_0 >= n) { |
| 10266 | n_0 = n; |
| 10267 | } |
| 10268 | |
| 10269 | b = n_0 - 1; |
| 10270 | for (n_0 = 0; n_0 <= b; n_0++) { |
| 10271 | mmj = m - n_0; |
| 10272 | c_tmp = (lda + 1) * n_0; |
| 10273 | c = c_tmp + 2; |
| 10274 | if (mmj < 1) { |
| 10275 | iy = 0; |
| 10276 | } else { |
| 10277 | iy = 1; |
| 10278 | if (mmj > 1) { |
| 10279 | ix = c - 2; |
| 10280 | smax = fabs(b_A->data[c_tmp]); |
| 10281 | for (k = 2; k <= mmj; k++) { |
| 10282 | ix++; |
| 10283 | s = fabs(b_A->data[ix]); |
| 10284 | if (s > smax) { |
| 10285 | iy = k; |
| 10286 | smax = s; |
| 10287 | } |
| 10288 | } |
| 10289 | } |
| 10290 | } |
| 10291 | |
| 10292 | if (b_A->data[(c + iy) - 3] != 0.0) { |
| 10293 | if (iy - 1 != 0) { |
| 10294 | k = n_0 + iy; |
| 10295 | ipiv->data[n_0] = k; |
| 10296 | ix = c_x->size[0] * c_x->size[1]; |
| 10297 | c_x->size[0] = b_A->size[0]; |
| 10298 | c_x->size[1] = b_A->size[1]; |
| 10299 | cartes_emxEnsureCapacity_real_T(c_x, ix, localB); |
| 10300 | iy = b_A->size[0] * b_A->size[1] - 1; |
| 10301 | for (ix = 0; ix <= iy; ix++) { |
| 10302 | c_x->data[ix] = b_A->data[ix]; |
| 10303 | } |
| 10304 | |
| 10305 | ix = n_0; |
| 10306 | iy = k - 1; |
| 10307 | for (k = 0; k < n; k++) { |
| 10308 | smax = c_x->data[ix]; |
| 10309 | c_x->data[ix] = c_x->data[iy]; |
| 10310 | c_x->data[iy] = smax; |
| 10311 | ix += lda; |
| 10312 | iy += lda; |
| 10313 | } |
| 10314 | |
| 10315 | k = b_A->size[0] * b_A->size[1]; |
| 10316 | b_A->size[0] = c_x->size[0]; |
| 10317 | b_A->size[1] = c_x->size[1]; |
| 10318 | cartes_emxEnsureCapacity_real_T(b_A, k, localB); |
| 10319 | iy = c_x->size[0] * c_x->size[1] - 1; |
| 10320 | for (k = 0; k <= iy; k++) { |
| 10321 | b_A->data[k] = c_x->data[k]; |
| 10322 | } |
| 10323 | } |
| 10324 | |
| 10325 | iy = c + mmj; |
| 10326 | for (k = c; k <= iy - 2; k++) { |
| 10327 | b_A->data[k - 1] /= b_A->data[c_tmp]; |
| 10328 | } |
| 10329 | } else { |
| 10330 | yk = n_0 + 1; |
| 10331 | } |
| 10332 | |
| 10333 | iy = (n - n_0) - 2; |
| 10334 | jy = c_tmp + lda; |
| 10335 | jA = jy + 1; |
| 10336 | for (k = 0; k <= iy; k++) { |
| 10337 | smax = b_A->data[jy]; |
| 10338 | if (b_A->data[jy] != 0.0) { |
| 10339 | ix = c - 1; |
| 10340 | c_0 = (mmj + jA) - 1; |
| 10341 | for (c_tmp = jA + 1; c_tmp <= c_0; c_tmp++) { |
| 10342 | b_A->data[c_tmp - 1] += b_A->data[ix] * -smax; |
| 10343 | ix++; |
| 10344 | } |
| 10345 | } |
| 10346 | |
| 10347 | jy += lda; |
| 10348 | jA += lda; |
| 10349 | } |
| 10350 | } |
| 10351 | |
| 10352 | if ((yk == 0) && (m <= n) && (!(b_A->data[((m - 1) * b_A->size[0] + m) - 1] |
| 10353 | != 0.0))) { |
| 10354 | yk = m; |
| 10355 | } |
| 10356 | } |
| 10357 | |
| 10358 | cartesian_trajec_emxFree_real_T(&c_x); |
| 10359 | *info = yk; |
| 10360 | } |
| 10361 | |
| 10362 | static void cartesian_trajectory_plan_xtrsm(int32_T m, int32_T n, const |
| 10363 | emxArray_real_T_cartesian_tra_T *A, int32_T lda, const |
| 10364 | emxArray_real_T_cartesian_tra_T *B, int32_T ldb, |
| 10365 | emxArray_real_T_cartesian_tra_T *b_B, B_MATLABSystem_cartesian_traj_T *localB) |
| 10366 | { |
| 10367 | int32_T jBcol; |
| 10368 | int32_T kAcol; |
| 10369 | int32_T i; |
| 10370 | int32_T k; |
| 10371 | int32_T b; |
| 10372 | int32_T b_i; |
| 10373 | int32_T loop_ub; |
| 10374 | int32_T i_0; |
| 10375 | int32_T tmp; |
| 10376 | i_0 = b_B->size[0] * b_B->size[1]; |
| 10377 | b_B->size[0] = B->size[0]; |
| 10378 | b_B->size[1] = B->size[1]; |
| 10379 | cartes_emxEnsureCapacity_real_T(b_B, i_0, localB); |
| 10380 | loop_ub = B->size[0] * B->size[1] - 1; |
| 10381 | for (i_0 = 0; i_0 <= loop_ub; i_0++) { |
| 10382 | b_B->data[i_0] = B->data[i_0]; |
| 10383 | } |
| 10384 | |
| 10385 | if ((n == 0) || ((B->size[0] == 0) || (B->size[1] == 0))) { |
| 10386 | } else { |
| 10387 | for (loop_ub = 0; loop_ub < n; loop_ub++) { |
| 10388 | jBcol = ldb * loop_ub - 1; |
| 10389 | for (k = m; k >= 1; k--) { |
| 10390 | kAcol = (k - 1) * lda - 1; |
| 10391 | i_0 = k + jBcol; |
| 10392 | if (b_B->data[i_0] != 0.0) { |
| 10393 | b_B->data[i_0] /= A->data[k + kAcol]; |
| 10394 | b = k - 2; |
| 10395 | for (b_i = 0; b_i <= b; b_i++) { |
| 10396 | i = b_i + 1; |
| 10397 | tmp = i + jBcol; |
| 10398 | b_B->data[tmp] -= b_B->data[i_0] * A->data[i + kAcol]; |
| 10399 | } |
| 10400 | } |
| 10401 | } |
| 10402 | } |
| 10403 | } |
| 10404 | } |
| 10405 | |
| 10406 | static real_T cartesian_trajectory_p_xnrm2_ad(int32_T n, const |
| 10407 | emxArray_real_T_cartesian_tra_T *x, int32_T ix0, |
| 10408 | B_MATLABSystem_cartesian_traj_T *localB) |
| 10409 | { |
| 10410 | real_T y; |
| 10411 | y = 0.0; |
| 10412 | if (n >= 1) { |
| 10413 | if (n == 1) { |
| 10414 | y = fabs(x->data[ix0 - 1]); |
| 10415 | } else { |
| 10416 | localB->scale_n = 3.3121686421112381E-170; |
| 10417 | localB->kend_c = ix0 + n; |
| 10418 | for (localB->k_k = ix0; localB->k_k < localB->kend_c; localB->k_k++) { |
| 10419 | localB->absxk_p = fabs(x->data[localB->k_k - 1]); |
| 10420 | if (localB->absxk_p > localB->scale_n) { |
| 10421 | localB->t_d = localB->scale_n / localB->absxk_p; |
| 10422 | y = y * localB->t_d * localB->t_d + 1.0; |
| 10423 | localB->scale_n = localB->absxk_p; |
| 10424 | } else { |
| 10425 | localB->t_d = localB->absxk_p / localB->scale_n; |
| 10426 | y += localB->t_d * localB->t_d; |
| 10427 | } |
| 10428 | } |
| 10429 | |
| 10430 | y = localB->scale_n * sqrt(y); |
| 10431 | } |
| 10432 | } |
| 10433 | |
| 10434 | return y; |
| 10435 | } |
| 10436 | |
| 10437 | static void cartesian_trajectory_pla_qrpf_b(const |
| 10438 | emxArray_real_T_cartesian_tra_T *A, int32_T m, int32_T n, |
| 10439 | emxArray_real_T_cartesian_tra_T *tau, const emxArray_int32_T_cartesian_tr_T |
| 10440 | *jpvt, emxArray_real_T_cartesian_tra_T *b_A, emxArray_int32_T_cartesian_tr_T |
| 10441 | *b_jpvt, B_MATLABSystem_cartesian_traj_T *localB) |
| 10442 | { |
| 10443 | emxArray_real_T_cartesian_tra_T *work; |
| 10444 | emxArray_real_T_cartesian_tra_T *vn1; |
| 10445 | emxArray_real_T_cartesian_tra_T *vn2; |
| 10446 | emxArray_real_T_cartesian_tra_T *c_x; |
| 10447 | int32_T exitg1; |
| 10448 | boolean_T exitg2; |
| 10449 | localB->kend = b_jpvt->size[0] * b_jpvt->size[1]; |
| 10450 | b_jpvt->size[0] = 1; |
| 10451 | b_jpvt->size[1] = jpvt->size[1]; |
| 10452 | carte_emxEnsureCapacity_int32_T(b_jpvt, localB->kend); |
| 10453 | localB->ix_i = jpvt->size[0] * jpvt->size[1] - 1; |
| 10454 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10455 | b_jpvt->data[localB->kend] = jpvt->data[localB->kend]; |
| 10456 | } |
| 10457 | |
| 10458 | localB->kend = b_A->size[0] * b_A->size[1]; |
| 10459 | b_A->size[0] = A->size[0]; |
| 10460 | b_A->size[1] = A->size[1]; |
| 10461 | cartes_emxEnsureCapacity_real_T(b_A, localB->kend, localB); |
| 10462 | localB->ix_i = A->size[0] * A->size[1] - 1; |
| 10463 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10464 | b_A->data[localB->kend] = A->data[localB->kend]; |
| 10465 | } |
| 10466 | |
| 10467 | cartesian_trajec_emxInit_real_T(&work, 1, localB); |
| 10468 | localB->ma = A->size[0]; |
| 10469 | if (m < n) { |
| 10470 | localB->m_gr = m; |
| 10471 | } else { |
| 10472 | localB->m_gr = n; |
| 10473 | } |
| 10474 | |
| 10475 | localB->minmn_e = localB->m_gr - 1; |
| 10476 | localB->kend = work->size[0]; |
| 10477 | work->size[0] = A->size[1]; |
| 10478 | cartes_emxEnsureCapacity_real_T(work, localB->kend, localB); |
| 10479 | localB->ix_i = A->size[1]; |
| 10480 | for (localB->kend = 0; localB->kend < localB->ix_i; localB->kend++) { |
| 10481 | work->data[localB->kend] = 0.0; |
| 10482 | } |
| 10483 | |
| 10484 | cartesian_trajec_emxInit_real_T(&vn1, 1, localB); |
| 10485 | localB->kend = vn1->size[0]; |
| 10486 | vn1->size[0] = A->size[1]; |
| 10487 | cartes_emxEnsureCapacity_real_T(vn1, localB->kend, localB); |
| 10488 | localB->ix_i = A->size[1]; |
| 10489 | for (localB->kend = 0; localB->kend < localB->ix_i; localB->kend++) { |
| 10490 | vn1->data[localB->kend] = 0.0; |
| 10491 | } |
| 10492 | |
| 10493 | cartesian_trajec_emxInit_real_T(&vn2, 1, localB); |
| 10494 | localB->kend = vn2->size[0]; |
| 10495 | vn2->size[0] = A->size[1]; |
| 10496 | cartes_emxEnsureCapacity_real_T(vn2, localB->kend, localB); |
| 10497 | localB->ix_i = A->size[1]; |
| 10498 | for (localB->kend = 0; localB->kend < localB->ix_i; localB->kend++) { |
| 10499 | vn2->data[localB->kend] = 0.0; |
| 10500 | } |
| 10501 | |
| 10502 | for (localB->m_gr = 0; localB->m_gr < n; localB->m_gr++) { |
| 10503 | localB->pvt = localB->m_gr * localB->ma; |
| 10504 | localB->smax = 0.0; |
| 10505 | if (m >= 1) { |
| 10506 | if (m == 1) { |
| 10507 | localB->smax = fabs(A->data[localB->pvt]); |
| 10508 | } else { |
| 10509 | localB->scale_c = 3.3121686421112381E-170; |
| 10510 | localB->kend = localB->pvt + m; |
| 10511 | for (localB->itemp = localB->pvt + 1; localB->itemp <= localB->kend; |
| 10512 | localB->itemp++) { |
| 10513 | localB->absxk = fabs(A->data[localB->itemp - 1]); |
| 10514 | if (localB->absxk > localB->scale_c) { |
| 10515 | localB->t = localB->scale_c / localB->absxk; |
| 10516 | localB->smax = localB->smax * localB->t * localB->t + 1.0; |
| 10517 | localB->scale_c = localB->absxk; |
| 10518 | } else { |
| 10519 | localB->t = localB->absxk / localB->scale_c; |
| 10520 | localB->smax += localB->t * localB->t; |
| 10521 | } |
| 10522 | } |
| 10523 | |
| 10524 | localB->smax = localB->scale_c * sqrt(localB->smax); |
| 10525 | } |
| 10526 | } |
| 10527 | |
| 10528 | vn1->data[localB->m_gr] = localB->smax; |
| 10529 | vn2->data[localB->m_gr] = vn1->data[localB->m_gr]; |
| 10530 | } |
| 10531 | |
| 10532 | cartesian_trajec_emxInit_real_T(&c_x, 2, localB); |
| 10533 | for (localB->m_gr = 0; localB->m_gr <= localB->minmn_e; localB->m_gr++) { |
| 10534 | localB->iy_g = localB->m_gr * localB->ma; |
| 10535 | localB->ii = localB->iy_g + localB->m_gr; |
| 10536 | localB->nmi = n - localB->m_gr; |
| 10537 | localB->mmi = (m - localB->m_gr) - 1; |
| 10538 | if (localB->nmi < 1) { |
| 10539 | localB->kend = 0; |
| 10540 | } else { |
| 10541 | localB->kend = 1; |
| 10542 | if (localB->nmi > 1) { |
| 10543 | localB->ix_i = localB->m_gr; |
| 10544 | localB->smax = fabs(vn1->data[localB->m_gr]); |
| 10545 | for (localB->itemp = 2; localB->itemp <= localB->nmi; localB->itemp++) { |
| 10546 | localB->ix_i++; |
| 10547 | localB->scale_c = fabs(vn1->data[localB->ix_i]); |
| 10548 | if (localB->scale_c > localB->smax) { |
| 10549 | localB->kend = localB->itemp; |
| 10550 | localB->smax = localB->scale_c; |
| 10551 | } |
| 10552 | } |
| 10553 | } |
| 10554 | } |
| 10555 | |
| 10556 | localB->pvt = (localB->m_gr + localB->kend) - 1; |
| 10557 | if (localB->pvt + 1 != localB->m_gr + 1) { |
| 10558 | localB->kend = c_x->size[0] * c_x->size[1]; |
| 10559 | c_x->size[0] = b_A->size[0]; |
| 10560 | c_x->size[1] = b_A->size[1]; |
| 10561 | cartes_emxEnsureCapacity_real_T(c_x, localB->kend, localB); |
| 10562 | localB->ix_i = b_A->size[0] * b_A->size[1] - 1; |
| 10563 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10564 | c_x->data[localB->kend] = b_A->data[localB->kend]; |
| 10565 | } |
| 10566 | |
| 10567 | localB->ix_i = localB->pvt * localB->ma; |
| 10568 | for (localB->itemp = 0; localB->itemp < m; localB->itemp++) { |
| 10569 | localB->scale_c = c_x->data[localB->ix_i]; |
| 10570 | c_x->data[localB->ix_i] = c_x->data[localB->iy_g]; |
| 10571 | c_x->data[localB->iy_g] = localB->scale_c; |
| 10572 | localB->ix_i++; |
| 10573 | localB->iy_g++; |
| 10574 | } |
| 10575 | |
| 10576 | localB->kend = b_A->size[0] * b_A->size[1]; |
| 10577 | b_A->size[0] = c_x->size[0]; |
| 10578 | b_A->size[1] = c_x->size[1]; |
| 10579 | cartes_emxEnsureCapacity_real_T(b_A, localB->kend, localB); |
| 10580 | localB->ix_i = c_x->size[0] * c_x->size[1] - 1; |
| 10581 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10582 | b_A->data[localB->kend] = c_x->data[localB->kend]; |
| 10583 | } |
| 10584 | |
| 10585 | localB->itemp = b_jpvt->data[localB->pvt]; |
| 10586 | b_jpvt->data[localB->pvt] = b_jpvt->data[localB->m_gr]; |
| 10587 | b_jpvt->data[localB->m_gr] = localB->itemp; |
| 10588 | vn1->data[localB->pvt] = vn1->data[localB->m_gr]; |
| 10589 | vn2->data[localB->pvt] = vn2->data[localB->m_gr]; |
| 10590 | } |
| 10591 | |
| 10592 | if (localB->m_gr + 1 < m) { |
| 10593 | localB->pvt = localB->ii + 2; |
| 10594 | localB->kend = c_x->size[0] * c_x->size[1]; |
| 10595 | c_x->size[0] = b_A->size[0]; |
| 10596 | c_x->size[1] = b_A->size[1]; |
| 10597 | cartes_emxEnsureCapacity_real_T(c_x, localB->kend, localB); |
| 10598 | localB->ix_i = b_A->size[0] * b_A->size[1] - 1; |
| 10599 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10600 | c_x->data[localB->kend] = b_A->data[localB->kend]; |
| 10601 | } |
| 10602 | |
| 10603 | localB->smax = b_A->data[localB->ii]; |
| 10604 | tau->data[localB->m_gr] = 0.0; |
| 10605 | if (localB->mmi + 1 > 0) { |
| 10606 | localB->scale_c = cartesian_trajectory_p_xnrm2_ad(localB->mmi, b_A, |
| 10607 | localB->ii + 2, localB); |
| 10608 | if (localB->scale_c != 0.0) { |
| 10609 | localB->scale_c = rt_hypotd_snf(b_A->data[localB->ii], localB->scale_c); |
| 10610 | if (b_A->data[localB->ii] >= 0.0) { |
| 10611 | localB->scale_c = -localB->scale_c; |
| 10612 | } |
| 10613 | |
| 10614 | if (fabs(localB->scale_c) < 1.0020841800044864E-292) { |
| 10615 | localB->kend = -1; |
| 10616 | localB->ix_i = (localB->ii + localB->mmi) + 1; |
| 10617 | do { |
| 10618 | localB->kend++; |
| 10619 | for (localB->itemp = localB->pvt; localB->itemp <= localB->ix_i; |
| 10620 | localB->itemp++) { |
| 10621 | c_x->data[localB->itemp - 1] *= 9.9792015476736E+291; |
| 10622 | } |
| 10623 | |
| 10624 | localB->scale_c *= 9.9792015476736E+291; |
| 10625 | localB->smax *= 9.9792015476736E+291; |
| 10626 | } while (!(fabs(localB->scale_c) >= 1.0020841800044864E-292)); |
| 10627 | |
| 10628 | localB->scale_c = rt_hypotd_snf(localB->smax, |
| 10629 | cartesian_trajectory_p_xnrm2_ad(localB->mmi, c_x, localB->ii + 2, |
| 10630 | localB)); |
| 10631 | if (localB->smax >= 0.0) { |
| 10632 | localB->scale_c = -localB->scale_c; |
| 10633 | } |
| 10634 | |
| 10635 | tau->data[localB->m_gr] = (localB->scale_c - localB->smax) / |
| 10636 | localB->scale_c; |
| 10637 | localB->smax = 1.0 / (localB->smax - localB->scale_c); |
| 10638 | for (localB->itemp = localB->pvt; localB->itemp <= localB->ix_i; |
| 10639 | localB->itemp++) { |
| 10640 | c_x->data[localB->itemp - 1] *= localB->smax; |
| 10641 | } |
| 10642 | |
| 10643 | for (localB->itemp = 0; localB->itemp <= localB->kend; localB->itemp |
| 10644 | ++) { |
| 10645 | localB->scale_c *= 1.0020841800044864E-292; |
| 10646 | } |
| 10647 | |
| 10648 | localB->smax = localB->scale_c; |
| 10649 | } else { |
| 10650 | tau->data[localB->m_gr] = (localB->scale_c - b_A->data[localB->ii]) / |
| 10651 | localB->scale_c; |
| 10652 | localB->smax = 1.0 / (b_A->data[localB->ii] - localB->scale_c); |
| 10653 | localB->kend = c_x->size[0] * c_x->size[1]; |
| 10654 | c_x->size[0] = b_A->size[0]; |
| 10655 | c_x->size[1] = b_A->size[1]; |
| 10656 | cartes_emxEnsureCapacity_real_T(c_x, localB->kend, localB); |
| 10657 | localB->ix_i = b_A->size[0] * b_A->size[1] - 1; |
| 10658 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) |
| 10659 | { |
| 10660 | c_x->data[localB->kend] = b_A->data[localB->kend]; |
| 10661 | } |
| 10662 | |
| 10663 | localB->b_g = (localB->ii + localB->mmi) + 1; |
| 10664 | for (localB->itemp = localB->pvt; localB->itemp <= localB->b_g; |
| 10665 | localB->itemp++) { |
| 10666 | c_x->data[localB->itemp - 1] *= localB->smax; |
| 10667 | } |
| 10668 | |
| 10669 | localB->smax = localB->scale_c; |
| 10670 | } |
| 10671 | } |
| 10672 | } |
| 10673 | |
| 10674 | localB->kend = b_A->size[0] * b_A->size[1]; |
| 10675 | b_A->size[0] = c_x->size[0]; |
| 10676 | b_A->size[1] = c_x->size[1]; |
| 10677 | cartes_emxEnsureCapacity_real_T(b_A, localB->kend, localB); |
| 10678 | localB->ix_i = c_x->size[0] * c_x->size[1] - 1; |
| 10679 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10680 | b_A->data[localB->kend] = c_x->data[localB->kend]; |
| 10681 | } |
| 10682 | |
| 10683 | b_A->data[localB->ii] = localB->smax; |
| 10684 | } else { |
| 10685 | tau->data[localB->m_gr] = 0.0; |
| 10686 | } |
| 10687 | |
| 10688 | if (localB->m_gr + 1 < n) { |
| 10689 | localB->smax = b_A->data[localB->ii]; |
| 10690 | b_A->data[localB->ii] = 1.0; |
| 10691 | localB->pvt = (localB->ii + localB->ma) + 1; |
| 10692 | localB->kend = c_x->size[0] * c_x->size[1]; |
| 10693 | c_x->size[0] = b_A->size[0]; |
| 10694 | c_x->size[1] = b_A->size[1]; |
| 10695 | cartes_emxEnsureCapacity_real_T(c_x, localB->kend, localB); |
| 10696 | localB->ix_i = b_A->size[0] * b_A->size[1] - 1; |
| 10697 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10698 | c_x->data[localB->kend] = b_A->data[localB->kend]; |
| 10699 | } |
| 10700 | |
| 10701 | if (tau->data[localB->m_gr] != 0.0) { |
| 10702 | localB->itemp = localB->mmi; |
| 10703 | localB->kend = localB->ii + localB->mmi; |
| 10704 | while ((localB->itemp + 1 > 0) && (b_A->data[localB->kend] == 0.0)) { |
| 10705 | localB->itemp--; |
| 10706 | localB->kend--; |
| 10707 | } |
| 10708 | |
| 10709 | localB->nmi--; |
| 10710 | exitg2 = false; |
| 10711 | while ((!exitg2) && (localB->nmi > 0)) { |
| 10712 | localB->ix_i = (localB->nmi - 1) * localB->ma + localB->pvt; |
| 10713 | localB->kend = localB->ix_i; |
| 10714 | do { |
| 10715 | exitg1 = 0; |
| 10716 | if (localB->kend <= localB->ix_i + localB->itemp) { |
| 10717 | if (b_A->data[localB->kend - 1] != 0.0) { |
| 10718 | exitg1 = 1; |
| 10719 | } else { |
| 10720 | localB->kend++; |
| 10721 | } |
| 10722 | } else { |
| 10723 | localB->nmi--; |
| 10724 | exitg1 = 2; |
| 10725 | } |
| 10726 | } while (exitg1 == 0); |
| 10727 | |
| 10728 | if (exitg1 == 1) { |
| 10729 | exitg2 = true; |
| 10730 | } |
| 10731 | } |
| 10732 | |
| 10733 | localB->lastc = localB->nmi - 1; |
| 10734 | localB->kend = c_x->size[0] * c_x->size[1]; |
| 10735 | c_x->size[0] = b_A->size[0]; |
| 10736 | c_x->size[1] = b_A->size[1]; |
| 10737 | cartes_emxEnsureCapacity_real_T(c_x, localB->kend, localB); |
| 10738 | localB->ix_i = b_A->size[0] * b_A->size[1] - 1; |
| 10739 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10740 | c_x->data[localB->kend] = b_A->data[localB->kend]; |
| 10741 | } |
| 10742 | } else { |
| 10743 | localB->itemp = -1; |
| 10744 | localB->lastc = -1; |
| 10745 | } |
| 10746 | |
| 10747 | if (localB->itemp + 1 > 0) { |
| 10748 | if (localB->lastc + 1 != 0) { |
| 10749 | for (localB->kend = 0; localB->kend <= localB->lastc; localB->kend++) |
| 10750 | { |
| 10751 | work->data[localB->kend] = 0.0; |
| 10752 | } |
| 10753 | |
| 10754 | localB->iy_g = 0; |
| 10755 | localB->b_g = localB->ma * localB->lastc + localB->pvt; |
| 10756 | for (localB->nmi = localB->pvt; localB->ma < 0 ? localB->nmi >= |
| 10757 | localB->b_g : localB->nmi <= localB->b_g; localB->nmi += |
| 10758 | localB->ma) { |
| 10759 | localB->ix_i = localB->ii; |
| 10760 | localB->scale_c = 0.0; |
| 10761 | localB->d_g = localB->nmi + localB->itemp; |
| 10762 | for (localB->kend = localB->nmi; localB->kend <= localB->d_g; |
| 10763 | localB->kend++) { |
| 10764 | localB->scale_c += c_x->data[localB->kend - 1] * c_x->data |
| 10765 | [localB->ix_i]; |
| 10766 | localB->ix_i++; |
| 10767 | } |
| 10768 | |
| 10769 | work->data[localB->iy_g] += localB->scale_c; |
| 10770 | localB->iy_g++; |
| 10771 | } |
| 10772 | } |
| 10773 | |
| 10774 | if (!(-tau->data[localB->m_gr] == 0.0)) { |
| 10775 | localB->iy_g = 0; |
| 10776 | for (localB->kend = 0; localB->kend <= localB->lastc; localB->kend++) |
| 10777 | { |
| 10778 | if (work->data[localB->iy_g] != 0.0) { |
| 10779 | localB->scale_c = work->data[localB->iy_g] * -tau->data |
| 10780 | [localB->m_gr]; |
| 10781 | localB->ix_i = localB->ii; |
| 10782 | localB->b_g = localB->itemp + localB->pvt; |
| 10783 | for (localB->nmi = localB->pvt; localB->nmi <= localB->b_g; |
| 10784 | localB->nmi++) { |
| 10785 | c_x->data[localB->nmi - 1] += c_x->data[localB->ix_i] * |
| 10786 | localB->scale_c; |
| 10787 | localB->ix_i++; |
| 10788 | } |
| 10789 | } |
| 10790 | |
| 10791 | localB->iy_g++; |
| 10792 | localB->pvt += localB->ma; |
| 10793 | } |
| 10794 | } |
| 10795 | } |
| 10796 | |
| 10797 | localB->kend = b_A->size[0] * b_A->size[1]; |
| 10798 | b_A->size[0] = c_x->size[0]; |
| 10799 | b_A->size[1] = c_x->size[1]; |
| 10800 | cartes_emxEnsureCapacity_real_T(b_A, localB->kend, localB); |
| 10801 | localB->ix_i = c_x->size[0] * c_x->size[1] - 1; |
| 10802 | for (localB->kend = 0; localB->kend <= localB->ix_i; localB->kend++) { |
| 10803 | b_A->data[localB->kend] = c_x->data[localB->kend]; |
| 10804 | } |
| 10805 | |
| 10806 | b_A->data[localB->ii] = localB->smax; |
| 10807 | } |
| 10808 | |
| 10809 | for (localB->ii = localB->m_gr + 2; localB->ii <= n; localB->ii++) { |
| 10810 | localB->pvt = ((localB->ii - 1) * localB->ma + localB->m_gr) + 1; |
| 10811 | if (vn1->data[localB->ii - 1] != 0.0) { |
| 10812 | localB->smax = fabs(b_A->data[localB->pvt - 1]) / vn1->data[localB->ii - |
| 10813 | 1]; |
| 10814 | localB->smax = 1.0 - localB->smax * localB->smax; |
| 10815 | if (localB->smax < 0.0) { |
| 10816 | localB->smax = 0.0; |
| 10817 | } |
| 10818 | |
| 10819 | localB->scale_c = vn1->data[localB->ii - 1] / vn2->data[localB->ii - 1]; |
| 10820 | localB->scale_c = localB->scale_c * localB->scale_c * localB->smax; |
| 10821 | if (localB->scale_c <= 1.4901161193847656E-8) { |
| 10822 | if (localB->m_gr + 1 < m) { |
| 10823 | localB->smax = 0.0; |
| 10824 | if (localB->mmi >= 1) { |
| 10825 | if (localB->mmi == 1) { |
| 10826 | localB->smax = fabs(b_A->data[localB->pvt]); |
| 10827 | } else { |
| 10828 | localB->scale_c = 3.3121686421112381E-170; |
| 10829 | localB->kend = localB->pvt + localB->mmi; |
| 10830 | for (localB->itemp = localB->pvt + 1; localB->itemp <= |
| 10831 | localB->kend; localB->itemp++) { |
| 10832 | localB->absxk = fabs(b_A->data[localB->itemp - 1]); |
| 10833 | if (localB->absxk > localB->scale_c) { |
| 10834 | localB->t = localB->scale_c / localB->absxk; |
| 10835 | localB->smax = localB->smax * localB->t * localB->t + 1.0; |
| 10836 | localB->scale_c = localB->absxk; |
| 10837 | } else { |
| 10838 | localB->t = localB->absxk / localB->scale_c; |
| 10839 | localB->smax += localB->t * localB->t; |
| 10840 | } |
| 10841 | } |
| 10842 | |
| 10843 | localB->smax = localB->scale_c * sqrt(localB->smax); |
| 10844 | } |
| 10845 | } |
| 10846 | |
| 10847 | vn1->data[localB->ii - 1] = localB->smax; |
| 10848 | vn2->data[localB->ii - 1] = vn1->data[localB->ii - 1]; |
| 10849 | } else { |
| 10850 | vn1->data[localB->ii - 1] = 0.0; |
| 10851 | vn2->data[localB->ii - 1] = 0.0; |
| 10852 | } |
| 10853 | } else { |
| 10854 | vn1->data[localB->ii - 1] *= sqrt(localB->smax); |
| 10855 | } |
| 10856 | } |
| 10857 | } |
| 10858 | } |
| 10859 | |
| 10860 | cartesian_trajec_emxFree_real_T(&c_x); |
| 10861 | cartesian_trajec_emxFree_real_T(&vn2); |
| 10862 | cartesian_trajec_emxFree_real_T(&vn1); |
| 10863 | cartesian_trajec_emxFree_real_T(&work); |
| 10864 | } |
| 10865 | |
| 10866 | static void cartesian_trajectory_p_mldivide(const |
| 10867 | emxArray_real_T_cartesian_tra_T *A, const emxArray_real_T_cartesian_tra_T *B, |
| 10868 | emxArray_real_T_cartesian_tra_T *Y, B_MATLABSystem_cartesian_traj_T *localB) |
| 10869 | { |
| 10870 | emxArray_real_T_cartesian_tra_T *c_A; |
| 10871 | emxArray_real_T_cartesian_tra_T *b_tau; |
| 10872 | emxArray_int32_T_cartesian_tr_T *b_jpvt; |
| 10873 | emxArray_real_T_cartesian_tra_T *B_0; |
| 10874 | emxArray_int32_T_cartesian_tr_T *b_jpvt_0; |
| 10875 | boolean_T guard1 = false; |
| 10876 | cartesian_trajec_emxInit_real_T(&c_A, 2, localB); |
| 10877 | cartesian_trajec_emxInit_real_T(&b_tau, 1, localB); |
| 10878 | cartesian_traje_emxInit_int32_T(&b_jpvt, 2); |
| 10879 | cartesian_trajec_emxInit_real_T(&B_0, 2, localB); |
| 10880 | cartesian_traje_emxInit_int32_T(&b_jpvt_0, 2); |
| 10881 | if ((A->size[0] == 0) || (A->size[1] == 0) || ((B->size[0] == 0) || (B->size[1] |
| 10882 | == 0))) { |
| 10883 | localB->minmn = A->size[1]; |
| 10884 | localB->minmana = B->size[1]; |
| 10885 | localB->b_i_gz = Y->size[0] * Y->size[1]; |
| 10886 | Y->size[0] = localB->minmn; |
| 10887 | Y->size[1] = localB->minmana; |
| 10888 | cartes_emxEnsureCapacity_real_T(Y, localB->b_i_gz, localB); |
| 10889 | localB->minmn = localB->minmn * localB->minmana - 1; |
| 10890 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 10891 | { |
| 10892 | Y->data[localB->b_i_gz] = 0.0; |
| 10893 | } |
| 10894 | } else if (A->size[0] == A->size[1]) { |
| 10895 | localB->minmn = A->size[0]; |
| 10896 | localB->rankR = A->size[1]; |
| 10897 | if (localB->minmn < localB->rankR) { |
| 10898 | localB->rankR = localB->minmn; |
| 10899 | } |
| 10900 | |
| 10901 | localB->minmn = B->size[0]; |
| 10902 | if (localB->minmn < localB->rankR) { |
| 10903 | localB->rankR = localB->minmn; |
| 10904 | } |
| 10905 | |
| 10906 | localB->nb = B->size[1] - 1; |
| 10907 | cartesian_trajectory_pl_xzgetrf(localB->rankR, localB->rankR, A, A->size[0], |
| 10908 | c_A, b_jpvt, &localB->minmn, localB); |
| 10909 | localB->b_i_gz = B_0->size[0] * B_0->size[1]; |
| 10910 | B_0->size[0] = B->size[0]; |
| 10911 | B_0->size[1] = B->size[1]; |
| 10912 | cartes_emxEnsureCapacity_real_T(B_0, localB->b_i_gz, localB); |
| 10913 | localB->minmn = B->size[0] * B->size[1] - 1; |
| 10914 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 10915 | { |
| 10916 | B_0->data[localB->b_i_gz] = B->data[localB->b_i_gz]; |
| 10917 | } |
| 10918 | |
| 10919 | localB->minmn = localB->rankR - 2; |
| 10920 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 10921 | { |
| 10922 | if (localB->b_i_gz + 1 != b_jpvt->data[localB->b_i_gz]) { |
| 10923 | localB->na = b_jpvt->data[localB->b_i_gz] - 1; |
| 10924 | for (localB->minmana = 0; localB->minmana <= localB->nb; localB->minmana |
| 10925 | ++) { |
| 10926 | localB->tol_l = B_0->data[B_0->size[0] * localB->minmana + |
| 10927 | localB->b_i_gz]; |
| 10928 | B_0->data[localB->b_i_gz + B_0->size[0] * localB->minmana] = B_0-> |
| 10929 | data[B_0->size[0] * localB->minmana + localB->na]; |
| 10930 | B_0->data[localB->na + B_0->size[0] * localB->minmana] = localB->tol_l; |
| 10931 | } |
| 10932 | } |
| 10933 | } |
| 10934 | |
| 10935 | if ((B->size[1] == 0) || ((B_0->size[0] == 0) || (B_0->size[1] == 0))) { |
| 10936 | } else { |
| 10937 | for (localB->minmana = 0; localB->minmana <= localB->nb; localB->minmana++) |
| 10938 | { |
| 10939 | localB->m_m = B->size[0] * localB->minmana - 1; |
| 10940 | for (localB->minmn = 0; localB->minmn < localB->rankR; localB->minmn++) |
| 10941 | { |
| 10942 | localB->nb_o = c_A->size[0] * localB->minmn - 1; |
| 10943 | localB->b_i_gz = (localB->minmn + localB->m_m) + 1; |
| 10944 | if (B_0->data[localB->b_i_gz] != 0.0) { |
| 10945 | for (localB->na = localB->minmn + 2; localB->na <= localB->rankR; |
| 10946 | localB->na++) { |
| 10947 | localB->mn = localB->na + localB->m_m; |
| 10948 | B_0->data[localB->mn] -= B_0->data[localB->b_i_gz] * c_A-> |
| 10949 | data[localB->na + localB->nb_o]; |
| 10950 | } |
| 10951 | } |
| 10952 | } |
| 10953 | } |
| 10954 | } |
| 10955 | |
| 10956 | cartesian_trajectory_plan_xtrsm(localB->rankR, B->size[1], c_A, c_A->size[0], |
| 10957 | B_0, B->size[0], Y, localB); |
| 10958 | } else { |
| 10959 | localB->na = A->size[1] - 1; |
| 10960 | localB->b_i_gz = c_A->size[0] * c_A->size[1]; |
| 10961 | c_A->size[0] = A->size[0]; |
| 10962 | c_A->size[1] = A->size[1]; |
| 10963 | cartes_emxEnsureCapacity_real_T(c_A, localB->b_i_gz, localB); |
| 10964 | localB->minmn = A->size[0] * A->size[1] - 1; |
| 10965 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 10966 | { |
| 10967 | c_A->data[localB->b_i_gz] = A->data[localB->b_i_gz]; |
| 10968 | } |
| 10969 | |
| 10970 | localB->minmn = A->size[0]; |
| 10971 | localB->minmana = A->size[1]; |
| 10972 | if (localB->minmn < localB->minmana) { |
| 10973 | localB->minmana = localB->minmn; |
| 10974 | } |
| 10975 | |
| 10976 | localB->b_i_gz = b_tau->size[0]; |
| 10977 | b_tau->size[0] = localB->minmana; |
| 10978 | cartes_emxEnsureCapacity_real_T(b_tau, localB->b_i_gz, localB); |
| 10979 | for (localB->b_i_gz = 0; localB->b_i_gz < localB->minmana; localB->b_i_gz++) |
| 10980 | { |
| 10981 | b_tau->data[localB->b_i_gz] = 0.0; |
| 10982 | } |
| 10983 | |
| 10984 | guard1 = false; |
| 10985 | if ((A->size[0] == 0) || (A->size[1] == 0)) { |
| 10986 | guard1 = true; |
| 10987 | } else { |
| 10988 | localB->minmn = A->size[0]; |
| 10989 | localB->minmana = A->size[1]; |
| 10990 | if (localB->minmn < localB->minmana) { |
| 10991 | localB->minmana = localB->minmn; |
| 10992 | } |
| 10993 | |
| 10994 | if (localB->minmana < 1) { |
| 10995 | guard1 = true; |
| 10996 | } else { |
| 10997 | localB->b_i_gz = b_jpvt->size[0] * b_jpvt->size[1]; |
| 10998 | b_jpvt->size[0] = 1; |
| 10999 | b_jpvt->size[1] = A->size[1]; |
| 11000 | carte_emxEnsureCapacity_int32_T(b_jpvt, localB->b_i_gz); |
| 11001 | localB->minmn = A->size[1] - 1; |
| 11002 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz |
| 11003 | ++) { |
| 11004 | b_jpvt->data[localB->b_i_gz] = 0; |
| 11005 | } |
| 11006 | |
| 11007 | for (localB->minmn = 0; localB->minmn <= localB->na; localB->minmn++) { |
| 11008 | b_jpvt->data[localB->minmn] = localB->minmn + 1; |
| 11009 | } |
| 11010 | |
| 11011 | localB->b_i_gz = b_jpvt_0->size[0] * b_jpvt_0->size[1]; |
| 11012 | b_jpvt_0->size[0] = 1; |
| 11013 | b_jpvt_0->size[1] = b_jpvt->size[1]; |
| 11014 | carte_emxEnsureCapacity_int32_T(b_jpvt_0, localB->b_i_gz); |
| 11015 | localB->minmn = b_jpvt->size[0] * b_jpvt->size[1]; |
| 11016 | for (localB->b_i_gz = 0; localB->b_i_gz < localB->minmn; localB->b_i_gz |
| 11017 | ++) { |
| 11018 | b_jpvt_0->data[localB->b_i_gz] = b_jpvt->data[localB->b_i_gz]; |
| 11019 | } |
| 11020 | |
| 11021 | cartesian_trajectory_pla_qrpf_b(A, A->size[0], A->size[1], b_tau, |
| 11022 | b_jpvt_0, c_A, b_jpvt, localB); |
| 11023 | } |
| 11024 | } |
| 11025 | |
| 11026 | if (guard1) { |
| 11027 | localB->b_i_gz = b_jpvt->size[0] * b_jpvt->size[1]; |
| 11028 | b_jpvt->size[0] = 1; |
| 11029 | b_jpvt->size[1] = A->size[1]; |
| 11030 | carte_emxEnsureCapacity_int32_T(b_jpvt, localB->b_i_gz); |
| 11031 | localB->minmn = A->size[1] - 1; |
| 11032 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 11033 | { |
| 11034 | b_jpvt->data[localB->b_i_gz] = 0; |
| 11035 | } |
| 11036 | |
| 11037 | for (localB->minmana = 0; localB->minmana <= localB->na; localB->minmana++) |
| 11038 | { |
| 11039 | b_jpvt->data[localB->minmana] = localB->minmana + 1; |
| 11040 | } |
| 11041 | } |
| 11042 | |
| 11043 | localB->rankR = 0; |
| 11044 | if (c_A->size[0] < c_A->size[1]) { |
| 11045 | localB->minmn = c_A->size[0]; |
| 11046 | localB->minmana = c_A->size[1]; |
| 11047 | } else { |
| 11048 | localB->minmn = c_A->size[1]; |
| 11049 | localB->minmana = c_A->size[0]; |
| 11050 | } |
| 11051 | |
| 11052 | if (localB->minmn > 0) { |
| 11053 | localB->tol_l = 2.2204460492503131E-15 * static_cast<real_T> |
| 11054 | (localB->minmana); |
| 11055 | if (1.4901161193847656E-8 < localB->tol_l) { |
| 11056 | localB->tol_l = 1.4901161193847656E-8; |
| 11057 | } |
| 11058 | |
| 11059 | localB->tol_l *= fabs(c_A->data[0]); |
| 11060 | while ((localB->rankR < localB->minmn) && (!(fabs(c_A->data[c_A->size[0] * |
| 11061 | localB->rankR + localB->rankR]) <= localB->tol_l))) { |
| 11062 | localB->rankR++; |
| 11063 | } |
| 11064 | } |
| 11065 | |
| 11066 | localB->nb = B->size[1] - 1; |
| 11067 | localB->minmn = c_A->size[1]; |
| 11068 | localB->minmana = B->size[1]; |
| 11069 | localB->b_i_gz = Y->size[0] * Y->size[1]; |
| 11070 | Y->size[0] = localB->minmn; |
| 11071 | Y->size[1] = localB->minmana; |
| 11072 | cartes_emxEnsureCapacity_real_T(Y, localB->b_i_gz, localB); |
| 11073 | localB->minmn = localB->minmn * localB->minmana - 1; |
| 11074 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 11075 | { |
| 11076 | Y->data[localB->b_i_gz] = 0.0; |
| 11077 | } |
| 11078 | |
| 11079 | localB->b_i_gz = B_0->size[0] * B_0->size[1]; |
| 11080 | B_0->size[0] = B->size[0]; |
| 11081 | B_0->size[1] = B->size[1]; |
| 11082 | cartes_emxEnsureCapacity_real_T(B_0, localB->b_i_gz, localB); |
| 11083 | localB->minmn = B->size[0] * B->size[1] - 1; |
| 11084 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->minmn; localB->b_i_gz++) |
| 11085 | { |
| 11086 | B_0->data[localB->b_i_gz] = B->data[localB->b_i_gz]; |
| 11087 | } |
| 11088 | |
| 11089 | localB->m_m = c_A->size[0]; |
| 11090 | localB->nb_o = B->size[1] - 1; |
| 11091 | localB->minmn = c_A->size[0]; |
| 11092 | localB->minmana = c_A->size[1]; |
| 11093 | if (localB->minmn < localB->minmana) { |
| 11094 | localB->minmana = localB->minmn; |
| 11095 | } |
| 11096 | |
| 11097 | localB->mn = localB->minmana - 1; |
| 11098 | for (localB->minmana = 0; localB->minmana <= localB->mn; localB->minmana++) |
| 11099 | { |
| 11100 | if (b_tau->data[localB->minmana] != 0.0) { |
| 11101 | for (localB->minmn = 0; localB->minmn <= localB->nb_o; localB->minmn++) |
| 11102 | { |
| 11103 | localB->tol_l = B_0->data[B_0->size[0] * localB->minmn + |
| 11104 | localB->minmana]; |
| 11105 | for (localB->na = localB->minmana + 2; localB->na <= localB->m_m; |
| 11106 | localB->na++) { |
| 11107 | localB->tol_l += c_A->data[(c_A->size[0] * localB->minmana + |
| 11108 | localB->na) - 1] * B_0->data[(B_0->size[0] * localB->minmn + |
| 11109 | localB->na) - 1]; |
| 11110 | } |
| 11111 | |
| 11112 | localB->tol_l *= b_tau->data[localB->minmana]; |
| 11113 | if (localB->tol_l != 0.0) { |
| 11114 | B_0->data[localB->minmana + B_0->size[0] * localB->minmn] -= |
| 11115 | localB->tol_l; |
| 11116 | for (localB->b_i_gz = localB->minmana + 2; localB->b_i_gz <= |
| 11117 | localB->m_m; localB->b_i_gz++) { |
| 11118 | B_0->data[(localB->b_i_gz + B_0->size[0] * localB->minmn) - 1] -= |
| 11119 | c_A->data[(c_A->size[0] * localB->minmana + localB->b_i_gz) - 1] |
| 11120 | * localB->tol_l; |
| 11121 | } |
| 11122 | } |
| 11123 | } |
| 11124 | } |
| 11125 | } |
| 11126 | |
| 11127 | for (localB->minmn = 0; localB->minmn <= localB->nb; localB->minmn++) { |
| 11128 | for (localB->b_i_gz = 0; localB->b_i_gz < localB->rankR; localB->b_i_gz++) |
| 11129 | { |
| 11130 | Y->data[(b_jpvt->data[localB->b_i_gz] + Y->size[0] * localB->minmn) - 1] |
| 11131 | = B_0->data[B_0->size[0] * localB->minmn + localB->b_i_gz]; |
| 11132 | } |
| 11133 | |
| 11134 | for (localB->minmana = localB->rankR; localB->minmana >= 1; |
| 11135 | localB->minmana--) { |
| 11136 | Y->data[(b_jpvt->data[localB->minmana - 1] + Y->size[0] * localB->minmn) |
| 11137 | - 1] /= c_A->data[((localB->minmana - 1) * c_A->size[0] + |
| 11138 | localB->minmana) - 1]; |
| 11139 | localB->na = localB->minmana - 2; |
| 11140 | for (localB->b_i_gz = 0; localB->b_i_gz <= localB->na; localB->b_i_gz++) |
| 11141 | { |
| 11142 | Y->data[(b_jpvt->data[localB->b_i_gz] + Y->size[0] * localB->minmn) - |
| 11143 | 1] -= Y->data[(b_jpvt->data[localB->minmana - 1] + Y->size[0] * |
| 11144 | localB->minmn) - 1] * c_A->data[(localB->minmana - 1) |
| 11145 | * c_A->size[0] + localB->b_i_gz]; |
| 11146 | } |
| 11147 | } |
| 11148 | } |
| 11149 | } |
| 11150 | |
| 11151 | cartesian_traje_emxFree_int32_T(&b_jpvt_0); |
| 11152 | cartesian_trajec_emxFree_real_T(&B_0); |
| 11153 | cartesian_traje_emxFree_int32_T(&b_jpvt); |
| 11154 | cartesian_trajec_emxFree_real_T(&b_tau); |
| 11155 | cartesian_trajec_emxFree_real_T(&c_A); |
| 11156 | } |
| 11157 | |
| 11158 | static void cartesian_trajectory_planne_inv(const |
| 11159 | emxArray_real_T_cartesian_tra_T *x, emxArray_real_T_cartesian_tra_T *y, |
| 11160 | B_MATLABSystem_cartesian_traj_T *localB) |
| 11161 | { |
| 11162 | int32_T n; |
| 11163 | emxArray_int32_T_cartesian_tr_T *p; |
| 11164 | int32_T c; |
| 11165 | emxArray_real_T_cartesian_tra_T *c_A; |
| 11166 | emxArray_int32_T_cartesian_tr_T *b_ipiv; |
| 11167 | int32_T info; |
| 11168 | int32_T n_0; |
| 11169 | int32_T yk; |
| 11170 | emxArray_real_T_cartesian_tra_T *y_0; |
| 11171 | if ((x->size[0] == 0) || (x->size[1] == 0)) { |
| 11172 | info = y->size[0] * y->size[1]; |
| 11173 | y->size[0] = x->size[0]; |
| 11174 | y->size[1] = x->size[1]; |
| 11175 | cartes_emxEnsureCapacity_real_T(y, info, localB); |
| 11176 | n_0 = x->size[0] * x->size[1] - 1; |
| 11177 | for (info = 0; info <= n_0; info++) { |
| 11178 | y->data[info] = x->data[info]; |
| 11179 | } |
| 11180 | } else { |
| 11181 | n = x->size[0]; |
| 11182 | info = y->size[0] * y->size[1]; |
| 11183 | y->size[0] = x->size[0]; |
| 11184 | y->size[1] = x->size[1]; |
| 11185 | cartes_emxEnsureCapacity_real_T(y, info, localB); |
| 11186 | n_0 = x->size[0] * x->size[1] - 1; |
| 11187 | for (info = 0; info <= n_0; info++) { |
| 11188 | y->data[info] = 0.0; |
| 11189 | } |
| 11190 | |
| 11191 | cartesian_traje_emxInit_int32_T(&p, 2); |
| 11192 | cartesian_trajec_emxInit_real_T(&c_A, 2, localB); |
| 11193 | cartesian_traje_emxInit_int32_T(&b_ipiv, 2); |
| 11194 | cartesian_trajectory_pl_xzgetrf(x->size[0], x->size[0], x, x->size[0], c_A, |
| 11195 | b_ipiv, &info, localB); |
| 11196 | if (x->size[0] < 1) { |
| 11197 | n_0 = 0; |
| 11198 | } else { |
| 11199 | n_0 = x->size[0]; |
| 11200 | } |
| 11201 | |
| 11202 | info = p->size[0] * p->size[1]; |
| 11203 | p->size[0] = 1; |
| 11204 | p->size[1] = n_0; |
| 11205 | carte_emxEnsureCapacity_int32_T(p, info); |
| 11206 | if (n_0 > 0) { |
| 11207 | p->data[0] = 1; |
| 11208 | yk = 1; |
| 11209 | for (info = 2; info <= n_0; info++) { |
| 11210 | yk++; |
| 11211 | p->data[info - 1] = yk; |
| 11212 | } |
| 11213 | } |
| 11214 | |
| 11215 | n_0 = b_ipiv->size[1] - 1; |
| 11216 | for (info = 0; info <= n_0; info++) { |
| 11217 | if (b_ipiv->data[info] > static_cast<real_T>(info) + 1.0) { |
| 11218 | yk = p->data[b_ipiv->data[info] - 1]; |
| 11219 | p->data[b_ipiv->data[info] - 1] = p->data[info]; |
| 11220 | p->data[info] = yk; |
| 11221 | } |
| 11222 | } |
| 11223 | |
| 11224 | cartesian_traje_emxFree_int32_T(&b_ipiv); |
| 11225 | for (info = 0; info < n; info++) { |
| 11226 | c = p->data[info] - 1; |
| 11227 | y->data[info + y->size[0] * (p->data[info] - 1)] = 1.0; |
| 11228 | for (n_0 = info + 1; n_0 <= n; n_0++) { |
| 11229 | if (y->data[(y->size[0] * c + n_0) - 1] != 0.0) { |
| 11230 | for (yk = n_0 + 1; yk <= n; yk++) { |
| 11231 | y->data[(yk + y->size[0] * c) - 1] -= c_A->data[((n_0 - 1) * |
| 11232 | c_A->size[0] + yk) - 1] * y->data[(y->size[0] * c + n_0) - 1]; |
| 11233 | } |
| 11234 | } |
| 11235 | } |
| 11236 | } |
| 11237 | |
| 11238 | cartesian_traje_emxFree_int32_T(&p); |
| 11239 | cartesian_trajec_emxInit_real_T(&y_0, 2, localB); |
| 11240 | info = y_0->size[0] * y_0->size[1]; |
| 11241 | y_0->size[0] = y->size[0]; |
| 11242 | y_0->size[1] = y->size[1]; |
| 11243 | cartes_emxEnsureCapacity_real_T(y_0, info, localB); |
| 11244 | n_0 = y->size[0] * y->size[1]; |
| 11245 | for (info = 0; info < n_0; info++) { |
| 11246 | y_0->data[info] = y->data[info]; |
| 11247 | } |
| 11248 | |
| 11249 | cartesian_trajectory_plan_xtrsm(x->size[0], x->size[0], c_A, x->size[0], y_0, |
| 11250 | x->size[0], y, localB); |
| 11251 | cartesian_trajec_emxFree_real_T(&y_0); |
| 11252 | cartesian_trajec_emxFree_real_T(&c_A); |
| 11253 | } |
| 11254 | } |
| 11255 | |
| 11256 | static void cartesian_trajectory_plann_diag(const |
| 11257 | emxArray_real_T_cartesian_tra_T *v, emxArray_real_T_cartesian_tra_T *d, |
| 11258 | B_MATLABSystem_cartesian_traj_T *localB) |
| 11259 | { |
| 11260 | int32_T u0; |
| 11261 | int32_T u1; |
| 11262 | if ((v->size[0] == 1) && (v->size[1] == 1)) { |
| 11263 | u0 = d->size[0]; |
| 11264 | d->size[0] = 1; |
| 11265 | cartes_emxEnsureCapacity_real_T(d, u0, localB); |
| 11266 | d->data[0] = v->data[0]; |
| 11267 | } else { |
| 11268 | if (0 < v->size[1]) { |
| 11269 | u0 = v->size[0]; |
| 11270 | u1 = v->size[1]; |
| 11271 | if (u0 < u1) { |
| 11272 | u1 = u0; |
| 11273 | } |
| 11274 | } else { |
| 11275 | u1 = 0; |
| 11276 | } |
| 11277 | |
| 11278 | u0 = d->size[0]; |
| 11279 | d->size[0] = u1; |
| 11280 | cartes_emxEnsureCapacity_real_T(d, u0, localB); |
| 11281 | for (u0 = 0; u0 < u1; u0++) { |
| 11282 | d->data[u0] = v->data[v->size[0] * u0 + u0]; |
| 11283 | } |
| 11284 | } |
| 11285 | } |
| 11286 | |
| 11287 | static boolean_T cartesian_trajectory_planne_any(const |
| 11288 | emxArray_boolean_T_cartesian__T *x) |
| 11289 | { |
| 11290 | boolean_T y; |
| 11291 | int32_T ix; |
| 11292 | boolean_T exitg1; |
| 11293 | y = false; |
| 11294 | ix = 0; |
| 11295 | exitg1 = false; |
| 11296 | while ((!exitg1) && (ix + 1 <= x->size[0])) { |
| 11297 | if (!x->data[ix]) { |
| 11298 | ix++; |
| 11299 | } else { |
| 11300 | y = true; |
| 11301 | exitg1 = true; |
| 11302 | } |
| 11303 | } |
| 11304 | |
| 11305 | return y; |
| 11306 | } |
| 11307 | |
| 11308 | static void cartesian_trajectory_pl_sqrt_nh(emxArray_real_T_cartesian_tra_T *x) |
| 11309 | { |
| 11310 | int32_T nx; |
| 11311 | int32_T b_k; |
| 11312 | nx = x->size[0] - 1; |
| 11313 | for (b_k = 0; b_k <= nx; b_k++) { |
| 11314 | x->data[b_k] = sqrt(x->data[b_k]); |
| 11315 | } |
| 11316 | } |
| 11317 | |
| 11318 | static boolean_T cartesian_tr_isPositiveDefinite(const real_T B[36], |
| 11319 | B_MATLABSystem_cartesian_traj_T *localB) |
| 11320 | { |
| 11321 | boolean_T flag; |
| 11322 | emxArray_real_T_cartesian_tra_T *b_x; |
| 11323 | boolean_T exitg1; |
| 11324 | localB->c_A_size_idx_0 = 6; |
| 11325 | localB->c_A_size_idx_1 = 6; |
| 11326 | memcpy(&localB->c_A_data[0], &B[0], 36U * sizeof(real_T)); |
| 11327 | localB->b_info = 0; |
| 11328 | localB->b_j_e = 1; |
| 11329 | cartesian_trajec_emxInit_real_T(&b_x, 2, localB); |
| 11330 | exitg1 = false; |
| 11331 | while ((!exitg1) && (localB->b_j_e - 1 < 6)) { |
| 11332 | localB->jm1 = localB->b_j_e - 2; |
| 11333 | localB->idxAjj = ((localB->b_j_e - 1) * 6 + localB->b_j_e) - 1; |
| 11334 | localB->ssq = 0.0; |
| 11335 | if (localB->b_j_e - 1 >= 1) { |
| 11336 | localB->ix_o = localB->b_j_e - 1; |
| 11337 | localB->iy = localB->b_j_e - 1; |
| 11338 | for (localB->k_fr = 0; localB->k_fr <= localB->jm1; localB->k_fr++) { |
| 11339 | localB->ssq += localB->c_A_data[localB->ix_o] * localB->c_A_data |
| 11340 | [localB->iy]; |
| 11341 | localB->ix_o += 6; |
| 11342 | localB->iy += 6; |
| 11343 | } |
| 11344 | } |
| 11345 | |
| 11346 | localB->ssq = localB->c_A_data[localB->idxAjj] - localB->ssq; |
| 11347 | if (localB->ssq > 0.0) { |
| 11348 | localB->ssq = sqrt(localB->ssq); |
| 11349 | localB->c_A_data[localB->idxAjj] = localB->ssq; |
| 11350 | if (localB->b_j_e < 6) { |
| 11351 | if (localB->b_j_e - 1 != 0) { |
| 11352 | localB->ix_o = localB->b_j_e - 1; |
| 11353 | localB->jm1 = (localB->b_j_e - 2) * 6 + localB->b_j_e; |
| 11354 | for (localB->k_fr = localB->b_j_e + 1; localB->k_fr <= localB->jm1 + 1; |
| 11355 | localB->k_fr += 6) { |
| 11356 | localB->c = -localB->c_A_data[localB->ix_o]; |
| 11357 | localB->iy = localB->idxAjj + 1; |
| 11358 | localB->d_j = localB->k_fr - localB->b_j_e; |
| 11359 | for (localB->ia = localB->k_fr; localB->ia <= localB->d_j + 5; |
| 11360 | localB->ia++) { |
| 11361 | localB->c_A_data[localB->iy] += localB->c_A_data[localB->ia - 1] * |
| 11362 | localB->c; |
| 11363 | localB->iy++; |
| 11364 | } |
| 11365 | |
| 11366 | localB->ix_o += 6; |
| 11367 | } |
| 11368 | } |
| 11369 | |
| 11370 | localB->ssq = 1.0 / localB->ssq; |
| 11371 | localB->ix_o = b_x->size[0] * b_x->size[1]; |
| 11372 | b_x->size[0] = 6; |
| 11373 | b_x->size[1] = 6; |
| 11374 | cartes_emxEnsureCapacity_real_T(b_x, localB->ix_o, localB); |
| 11375 | localB->c_A_size_idx_0 = localB->c_A_size_idx_0 * localB->c_A_size_idx_1 |
| 11376 | - 1; |
| 11377 | for (localB->ix_o = 0; localB->ix_o <= localB->c_A_size_idx_0; |
| 11378 | localB->ix_o++) { |
| 11379 | b_x->data[localB->ix_o] = localB->c_A_data[localB->ix_o]; |
| 11380 | } |
| 11381 | |
| 11382 | localB->jm1 = localB->idxAjj - localB->b_j_e; |
| 11383 | for (localB->k_fr = localB->idxAjj + 2; localB->k_fr <= localB->jm1 + 7; |
| 11384 | localB->k_fr++) { |
| 11385 | b_x->data[localB->k_fr - 1] *= localB->ssq; |
| 11386 | } |
| 11387 | |
| 11388 | localB->c_A_size_idx_0 = b_x->size[0]; |
| 11389 | localB->c_A_size_idx_1 = b_x->size[1]; |
| 11390 | for (localB->ix_o = 0; localB->ix_o < 36; localB->ix_o++) { |
| 11391 | localB->c_A_data[localB->ix_o] = b_x->data[localB->ix_o]; |
| 11392 | } |
| 11393 | } |
| 11394 | |
| 11395 | localB->b_j_e++; |
| 11396 | } else { |
| 11397 | localB->b_info = localB->b_j_e; |
| 11398 | exitg1 = true; |
| 11399 | } |
| 11400 | } |
| 11401 | |
| 11402 | cartesian_trajec_emxFree_real_T(&b_x); |
| 11403 | flag = (localB->b_info == 0); |
| 11404 | return flag; |
| 11405 | } |
| 11406 | |
| 11407 | static boolean_T DampedBFGSwGradientProjection_k(const |
| 11408 | h_robotics_core_internal_Damp_T *obj, const real_T xNew[6], |
| 11409 | B_MATLABSystem_cartesian_traj_T *localB) |
| 11410 | { |
| 11411 | boolean_T flag; |
| 11412 | emxArray_real_T_cartesian_tra_T *b; |
| 11413 | emxArray_real_T_cartesian_tra_T *c; |
| 11414 | int32_T m; |
| 11415 | int32_T inner; |
| 11416 | int32_T b_i; |
| 11417 | int32_T loop_ub; |
| 11418 | emxArray_boolean_T_cartesian__T *c_0; |
| 11419 | cartesian_trajec_emxInit_real_T(&b, 2, localB); |
| 11420 | cartesian_trajec_emxInit_real_T(&c, 1, localB); |
| 11421 | cartesian_tra_emxInit_boolean_T(&c_0, 1); |
| 11422 | if (obj->ConstraintsOn) { |
| 11423 | b_i = b->size[0] * b->size[1]; |
| 11424 | b->size[0] = obj->ConstraintMatrix->size[0]; |
| 11425 | b->size[1] = obj->ConstraintMatrix->size[1]; |
| 11426 | cartes_emxEnsureCapacity_real_T(b, b_i, localB); |
| 11427 | loop_ub = obj->ConstraintMatrix->size[0] * obj->ConstraintMatrix->size[1] - |
| 11428 | 1; |
| 11429 | for (b_i = 0; b_i <= loop_ub; b_i++) { |
| 11430 | b->data[b_i] = obj->ConstraintMatrix->data[b_i]; |
| 11431 | } |
| 11432 | |
| 11433 | m = b->size[1] - 1; |
| 11434 | inner = b->size[0] - 1; |
| 11435 | b_i = c->size[0]; |
| 11436 | c->size[0] = b->size[1]; |
| 11437 | cartes_emxEnsureCapacity_real_T(c, b_i, localB); |
| 11438 | for (b_i = 0; b_i <= m; b_i++) { |
| 11439 | c->data[b_i] = 0.0; |
| 11440 | } |
| 11441 | |
| 11442 | for (b_i = 0; b_i <= inner; b_i++) { |
| 11443 | for (loop_ub = 0; loop_ub <= m; loop_ub++) { |
| 11444 | c->data[loop_ub] += b->data[loop_ub * b->size[0] + b_i] * xNew[b_i]; |
| 11445 | } |
| 11446 | } |
| 11447 | |
| 11448 | b_i = c_0->size[0]; |
| 11449 | c_0->size[0] = c->size[0]; |
| 11450 | car_emxEnsureCapacity_boolean_T(c_0, b_i); |
| 11451 | loop_ub = c->size[0]; |
| 11452 | for (b_i = 0; b_i < loop_ub; b_i++) { |
| 11453 | c_0->data[b_i] = (c->data[b_i] - obj->ConstraintBound->data[b_i] > |
| 11454 | 1.4901161193847656E-8); |
| 11455 | } |
| 11456 | |
| 11457 | if (cartesian_trajectory_planne_any(c_0)) { |
| 11458 | flag = true; |
| 11459 | } else { |
| 11460 | flag = false; |
| 11461 | } |
| 11462 | } else { |
| 11463 | flag = false; |
| 11464 | } |
| 11465 | |
| 11466 | cartesian_tra_emxFree_boolean_T(&c_0); |
| 11467 | cartesian_trajec_emxFree_real_T(&c); |
| 11468 | cartesian_trajec_emxFree_real_T(&b); |
| 11469 | return flag; |
| 11470 | } |
| 11471 | |
| 11472 | static void DampedBFGSwGradientProjection_s(h_robotics_core_internal_Damp_T *obj, |
| 11473 | real_T xSol[6], c_robotics_core_internal_NLPS_T *exitFlag, real_T *err, real_T |
| 11474 | *iter, B_MATLABSystem_cartesian_traj_T *localB) |
| 11475 | { |
| 11476 | emxArray_real_T_cartesian_tra_T *unusedU1; |
| 11477 | emxArray_real_T_cartesian_tra_T *grad; |
| 11478 | emxArray_boolean_T_cartesian__T *activeSet; |
| 11479 | emxArray_real_T_cartesian_tra_T *A; |
| 11480 | emxArray_real_T_cartesian_tra_T *alpha; |
| 11481 | emxArray_real_T_cartesian_tra_T *AIn; |
| 11482 | emxArray_real_T_cartesian_tra_T *L; |
| 11483 | f_robotics_manip_internal_IKE_T *b; |
| 11484 | f_robotics_manip_internal_IKE_T *c; |
| 11485 | f_robotics_manip_internal_IKE_T *d; |
| 11486 | emxArray_int32_T_cartesian_tr_T *cb; |
| 11487 | emxArray_int32_T_cartesian_tr_T *db; |
| 11488 | emxArray_int32_T_cartesian_tr_T *eb; |
| 11489 | emxArray_int32_T_cartesian_tr_T *fb; |
| 11490 | emxArray_int32_T_cartesian_tr_T *gb; |
| 11491 | f_robotics_manip_internal_IKE_T *args; |
| 11492 | emxArray_real_T_cartesian_tra_T *a; |
| 11493 | emxArray_int32_T_cartesian_tr_T *ii; |
| 11494 | emxArray_real_T_cartesian_tra_T *y; |
| 11495 | emxArray_int32_T_cartesian_tr_T *ii_0; |
| 11496 | emxArray_real_T_cartesian_tra_T *y_0; |
| 11497 | emxArray_boolean_T_cartesian__T *x; |
| 11498 | emxArray_real_T_cartesian_tra_T *A_0; |
| 11499 | emxArray_real_T_cartesian_tra_T *A_1; |
| 11500 | emxArray_real_T_cartesian_tra_T *A_2; |
| 11501 | emxArray_real_T_cartesian_tra_T *sigma; |
| 11502 | emxArray_real_T_cartesian_tra_T *tmp; |
| 11503 | emxArray_real_T_cartesian_tra_T *tmp_0; |
| 11504 | emxArray_real_T_cartesian_tra_T *grad_0; |
| 11505 | emxArray_real_T_cartesian_tra_T *sNew; |
| 11506 | emxArray_int32_T_cartesian_tr_T *ii_1; |
| 11507 | emxArray_int32_T_cartesian_tr_T *ii_2; |
| 11508 | emxArray_real_T_cartesian_tra_T *grad_1; |
| 11509 | emxArray_real_T_cartesian_tra_T *A_3; |
| 11510 | emxArray_real_T_cartesian_tra_T *alpha_0; |
| 11511 | emxArray_int32_T_cartesian_tr_T *ii_3; |
| 11512 | static const int8_T tmp_1[36] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, |
| 11513 | 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1 }; |
| 11514 | |
| 11515 | int32_T exitg1; |
| 11516 | int32_T exitg2; |
| 11517 | boolean_T exitg3; |
| 11518 | boolean_T guard1 = false; |
| 11519 | boolean_T guard2 = false; |
| 11520 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 11521 | localB->x[localB->i_i] = obj->SeedInternal[localB->i_i]; |
| 11522 | } |
| 11523 | |
| 11524 | cartesian_trajec_emxInit_real_T(&unusedU1, 2, localB); |
| 11525 | cartesian_trajec_emxInit_real_T(&grad, 1, localB); |
| 11526 | obj->TimeObjInternal.StartTime = ctimefun(); |
| 11527 | cartesian_IKHelpers_computeCost(localB->x, obj->ExtraArgs, &localB->cost, |
| 11528 | localB->unusedU0, unusedU1, &b, localB); |
| 11529 | obj->ExtraArgs = b; |
| 11530 | args = obj->ExtraArgs; |
| 11531 | localB->b_i_l = grad->size[0]; |
| 11532 | grad->size[0] = args->GradTemp->size[0]; |
| 11533 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 11534 | localB->i_i = args->GradTemp->size[0]; |
| 11535 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 11536 | grad->data[localB->b_i_l] = args->GradTemp->data[localB->b_i_l]; |
| 11537 | } |
| 11538 | |
| 11539 | cartesian_trajectory_planne_eye(localB->unusedU0); |
| 11540 | memcpy(&localB->H[0], &localB->unusedU0[0], 36U * sizeof(real_T)); |
| 11541 | cartesian_tra_emxInit_boolean_T(&activeSet, 1); |
| 11542 | cartesian_trajec_emxInit_real_T(&A, 2, localB); |
| 11543 | cartesian_trajec_emxInit_real_T(&alpha, 1, localB); |
| 11544 | cartesian_traje_emxInit_int32_T(&ii, 1); |
| 11545 | if (obj->ConstraintsOn) { |
| 11546 | localB->b_i_l = A->size[0] * A->size[1]; |
| 11547 | A->size[0] = obj->ConstraintMatrix->size[0]; |
| 11548 | A->size[1] = obj->ConstraintMatrix->size[1]; |
| 11549 | cartes_emxEnsureCapacity_real_T(A, localB->b_i_l, localB); |
| 11550 | localB->i_i = obj->ConstraintMatrix->size[0] * obj->ConstraintMatrix->size[1] |
| 11551 | - 1; |
| 11552 | for (localB->b_i_l = 0; localB->b_i_l <= localB->i_i; localB->b_i_l++) { |
| 11553 | A->data[localB->b_i_l] = obj->ConstraintMatrix->data[localB->b_i_l]; |
| 11554 | } |
| 11555 | |
| 11556 | localB->m_i = A->size[1] - 1; |
| 11557 | localB->inner = A->size[0] - 1; |
| 11558 | localB->b_i_l = alpha->size[0]; |
| 11559 | alpha->size[0] = A->size[1]; |
| 11560 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 11561 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; localB->b_i_l++) { |
| 11562 | alpha->data[localB->b_i_l] = 0.0; |
| 11563 | } |
| 11564 | |
| 11565 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; localB->nx_n++) { |
| 11566 | for (localB->g_idx_0 = 0; localB->g_idx_0 <= localB->m_i; localB->g_idx_0 |
| 11567 | ++) { |
| 11568 | alpha->data[localB->g_idx_0] += A->data[localB->g_idx_0 * A->size[0] + |
| 11569 | localB->nx_n] * localB->x[localB->nx_n]; |
| 11570 | } |
| 11571 | } |
| 11572 | |
| 11573 | localB->b_i_l = activeSet->size[0]; |
| 11574 | activeSet->size[0] = alpha->size[0]; |
| 11575 | car_emxEnsureCapacity_boolean_T(activeSet, localB->b_i_l); |
| 11576 | localB->i_i = alpha->size[0]; |
| 11577 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 11578 | activeSet->data[localB->b_i_l] = (alpha->data[localB->b_i_l] >= |
| 11579 | obj->ConstraintBound->data[localB->b_i_l]); |
| 11580 | } |
| 11581 | |
| 11582 | localB->nx_n = activeSet->size[0] - 1; |
| 11583 | localB->idx = 0; |
| 11584 | for (localB->g_idx_0 = 0; localB->g_idx_0 <= localB->nx_n; localB->g_idx_0++) |
| 11585 | { |
| 11586 | if (activeSet->data[localB->g_idx_0]) { |
| 11587 | localB->idx++; |
| 11588 | } |
| 11589 | } |
| 11590 | |
| 11591 | localB->b_i_l = ii->size[0]; |
| 11592 | ii->size[0] = localB->idx; |
| 11593 | carte_emxEnsureCapacity_int32_T(ii, localB->b_i_l); |
| 11594 | localB->b_i_l = 0; |
| 11595 | for (localB->g_idx_0 = 0; localB->g_idx_0 <= localB->nx_n; localB->g_idx_0++) |
| 11596 | { |
| 11597 | if (activeSet->data[localB->g_idx_0]) { |
| 11598 | ii->data[localB->b_i_l] = localB->g_idx_0 + 1; |
| 11599 | localB->b_i_l++; |
| 11600 | } |
| 11601 | } |
| 11602 | |
| 11603 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 11604 | localB->b_i_l = A->size[0] * A->size[1]; |
| 11605 | A->size[0] = localB->i_i; |
| 11606 | A->size[1] = ii->size[0]; |
| 11607 | cartes_emxEnsureCapacity_real_T(A, localB->b_i_l, localB); |
| 11608 | localB->n = ii->size[0]; |
| 11609 | for (localB->b_i_l = 0; localB->b_i_l < localB->n; localB->b_i_l++) { |
| 11610 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) { |
| 11611 | A->data[localB->idx + A->size[0] * localB->b_i_l] = |
| 11612 | obj->ConstraintMatrix->data[(ii->data[localB->b_i_l] - 1) * |
| 11613 | obj->ConstraintMatrix->size[0] + localB->idx]; |
| 11614 | } |
| 11615 | } |
| 11616 | } else { |
| 11617 | localB->g_idx_0 = obj->ConstraintBound->size[0]; |
| 11618 | localB->b_i_l = activeSet->size[0]; |
| 11619 | activeSet->size[0] = localB->g_idx_0; |
| 11620 | car_emxEnsureCapacity_boolean_T(activeSet, localB->b_i_l); |
| 11621 | for (localB->b_i_l = 0; localB->b_i_l < localB->g_idx_0; localB->b_i_l++) { |
| 11622 | activeSet->data[localB->b_i_l] = false; |
| 11623 | } |
| 11624 | |
| 11625 | A->size[0] = 6; |
| 11626 | A->size[1] = 0; |
| 11627 | } |
| 11628 | |
| 11629 | localB->j = A->size[1] - 1; |
| 11630 | cartesian_trajec_emxInit_real_T(&AIn, 2, localB); |
| 11631 | cartesian_trajec_emxInit_real_T(&A_0, 2, localB); |
| 11632 | cartesian_trajec_emxInit_real_T(&A_1, 1, localB); |
| 11633 | for (localB->nx_n = 0; localB->nx_n <= localB->j; localB->nx_n++) { |
| 11634 | localB->i_i = A->size[0]; |
| 11635 | localB->b_i_l = A_0->size[0] * A_0->size[1]; |
| 11636 | A_0->size[0] = 1; |
| 11637 | A_0->size[1] = localB->i_i; |
| 11638 | cartes_emxEnsureCapacity_real_T(A_0, localB->b_i_l, localB); |
| 11639 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 11640 | A_0->data[localB->b_i_l] = A->data[A->size[0] * localB->nx_n + |
| 11641 | localB->b_i_l]; |
| 11642 | } |
| 11643 | |
| 11644 | localB->i_i = A->size[0]; |
| 11645 | localB->b_i_l = A_1->size[0]; |
| 11646 | A_1->size[0] = localB->i_i; |
| 11647 | cartes_emxEnsureCapacity_real_T(A_1, localB->b_i_l, localB); |
| 11648 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 11649 | A_1->data[localB->b_i_l] = A->data[A->size[0] * localB->nx_n + |
| 11650 | localB->b_i_l]; |
| 11651 | } |
| 11652 | |
| 11653 | localB->A_f = 0.0; |
| 11654 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11655 | localB->Hg[localB->b_i_l] = 0.0; |
| 11656 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 11657 | localB->s_j = localB->H[6 * localB->b_i_l + localB->idx] * A_0-> |
| 11658 | data[localB->idx] + localB->Hg[localB->b_i_l]; |
| 11659 | localB->Hg[localB->b_i_l] = localB->s_j; |
| 11660 | } |
| 11661 | |
| 11662 | localB->A_f += localB->Hg[localB->b_i_l] * A_1->data[localB->b_i_l]; |
| 11663 | } |
| 11664 | |
| 11665 | localB->s_j = 1.0 / localB->A_f; |
| 11666 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 11667 | localB->V[localB->b_i_l] = localB->s_j * localB->H[localB->b_i_l]; |
| 11668 | } |
| 11669 | |
| 11670 | localB->i_i = A->size[0]; |
| 11671 | localB->n = A->size[0]; |
| 11672 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 11673 | AIn->size[0] = localB->i_i; |
| 11674 | AIn->size[1] = localB->n; |
| 11675 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 11676 | for (localB->b_i_l = 0; localB->b_i_l < localB->n; localB->b_i_l++) { |
| 11677 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) { |
| 11678 | AIn->data[localB->idx + AIn->size[0] * localB->b_i_l] = A->data[A->size |
| 11679 | [0] * localB->nx_n + localB->idx] * A->data[A->size[0] * localB->nx_n |
| 11680 | + localB->b_i_l]; |
| 11681 | } |
| 11682 | } |
| 11683 | |
| 11684 | localB->n = AIn->size[1] - 1; |
| 11685 | localB->b_i_l = unusedU1->size[0] * unusedU1->size[1]; |
| 11686 | unusedU1->size[0] = 6; |
| 11687 | unusedU1->size[1] = AIn->size[1]; |
| 11688 | cartes_emxEnsureCapacity_real_T(unusedU1, localB->b_i_l, localB); |
| 11689 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 11690 | localB->coffset = localB->idx * 6 - 1; |
| 11691 | localB->boffset = localB->idx * AIn->size[0] - 1; |
| 11692 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11693 | localB->s_j = 0.0; |
| 11694 | for (localB->g_idx_0 = 0; localB->g_idx_0 < 6; localB->g_idx_0++) { |
| 11695 | localB->s_j += localB->V[localB->g_idx_0 * 6 + localB->b_i_l] * |
| 11696 | AIn->data[(localB->boffset + localB->g_idx_0) + 1]; |
| 11697 | } |
| 11698 | |
| 11699 | unusedU1->data[(localB->coffset + localB->b_i_l) + 1] = localB->s_j; |
| 11700 | } |
| 11701 | } |
| 11702 | |
| 11703 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11704 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 11705 | localB->s_j = 0.0; |
| 11706 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 11707 | localB->s_j += unusedU1->data[6 * localB->i_i + localB->b_i_l] * |
| 11708 | localB->H[6 * localB->idx + localB->i_i]; |
| 11709 | } |
| 11710 | |
| 11711 | localB->idxl = 6 * localB->idx + localB->b_i_l; |
| 11712 | localB->H_m[localB->idxl] = localB->H[localB->idxl] - localB->s_j; |
| 11713 | } |
| 11714 | } |
| 11715 | |
| 11716 | memcpy(&localB->H[0], &localB->H_m[0], 36U * sizeof(real_T)); |
| 11717 | } |
| 11718 | |
| 11719 | cartesian_trajec_emxFree_real_T(&A_1); |
| 11720 | cartesian_trajec_emxFree_real_T(&A_0); |
| 11721 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 11722 | xSol[localB->i_i] = localB->x[localB->i_i]; |
| 11723 | } |
| 11724 | |
| 11725 | localB->A_f = obj->MaxNumIterationInternal; |
| 11726 | localB->g_idx_0 = 0; |
| 11727 | cartesian_trajec_emxInit_real_T(&L, 1, localB); |
| 11728 | cartesian_traje_emxInit_int32_T(&cb, 1); |
| 11729 | cartesian_traje_emxInit_int32_T(&db, 1); |
| 11730 | cartesian_traje_emxInit_int32_T(&eb, 1); |
| 11731 | cartesian_traje_emxInit_int32_T(&fb, 1); |
| 11732 | cartesian_traje_emxInit_int32_T(&gb, 1); |
| 11733 | cartesian_trajec_emxInit_real_T(&a, 2, localB); |
| 11734 | cartesian_trajec_emxInit_real_T(&y, 1, localB); |
| 11735 | cartesian_traje_emxInit_int32_T(&ii_0, 1); |
| 11736 | cartesian_trajec_emxInit_real_T(&y_0, 2, localB); |
| 11737 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 11738 | cartesian_trajec_emxInit_real_T(&A_2, 2, localB); |
| 11739 | cartesian_trajec_emxInit_real_T(&sigma, 2, localB); |
| 11740 | cartesian_trajec_emxInit_real_T(&tmp, 2, localB); |
| 11741 | cartesian_trajec_emxInit_real_T(&tmp_0, 2, localB); |
| 11742 | cartesian_trajec_emxInit_real_T(&grad_0, 2, localB); |
| 11743 | cartesian_trajec_emxInit_real_T(&sNew, 2, localB); |
| 11744 | cartesian_traje_emxInit_int32_T(&ii_1, 1); |
| 11745 | cartesian_traje_emxInit_int32_T(&ii_2, 1); |
| 11746 | cartesian_trajec_emxInit_real_T(&grad_1, 2, localB); |
| 11747 | cartesian_trajec_emxInit_real_T(&A_3, 2, localB); |
| 11748 | cartesian_trajec_emxInit_real_T(&alpha_0, 2, localB); |
| 11749 | cartesian_traje_emxInit_int32_T(&ii_3, 1); |
| 11750 | do { |
| 11751 | exitg2 = 0; |
| 11752 | if (localB->g_idx_0 <= static_cast<int32_T>(localB->A_f) - 1) { |
| 11753 | localB->s_j = SystemTimeProvider_getElapsedTi(&obj->TimeObjInternal); |
| 11754 | localB->flag = (localB->s_j > obj->MaxTimeInternal); |
| 11755 | if (localB->flag) { |
| 11756 | *exitFlag = TimeLimitExceeded; |
| 11757 | args = obj->ExtraArgs; |
| 11758 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 11759 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix[localB->b_i_l]; |
| 11760 | } |
| 11761 | |
| 11762 | localB->b_i_l = grad->size[0]; |
| 11763 | grad->size[0] = args->ErrTemp->size[0]; |
| 11764 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 11765 | localB->i_i = args->ErrTemp->size[0]; |
| 11766 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 11767 | grad->data[localB->b_i_l] = args->ErrTemp->data[localB->b_i_l]; |
| 11768 | } |
| 11769 | |
| 11770 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11771 | localB->x[localB->b_i_l] = 0.0; |
| 11772 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 11773 | localB->A_f = localB->unusedU0[6 * localB->idx + localB->b_i_l] * |
| 11774 | grad->data[localB->idx] + localB->x[localB->b_i_l]; |
| 11775 | localB->x[localB->b_i_l] = localB->A_f; |
| 11776 | } |
| 11777 | } |
| 11778 | |
| 11779 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 11780 | *iter = static_cast<real_T>(localB->g_idx_0) + 1.0; |
| 11781 | exitg2 = 1; |
| 11782 | } else { |
| 11783 | if ((A->size[0] == 0) || (A->size[1] == 0)) { |
| 11784 | localB->b_i_l = alpha->size[0]; |
| 11785 | alpha->size[0] = 1; |
| 11786 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 11787 | alpha->data[0] = 0.0; |
| 11788 | } else { |
| 11789 | localB->m_i = A->size[1] - 1; |
| 11790 | localB->inner = A->size[0] - 1; |
| 11791 | localB->n = A->size[1] - 1; |
| 11792 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 11793 | AIn->size[0] = A->size[1]; |
| 11794 | AIn->size[1] = A->size[1]; |
| 11795 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 11796 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 11797 | localB->coffset = (localB->m_i + 1) * localB->idx - 1; |
| 11798 | localB->boffset = localB->idx * A->size[0] - 1; |
| 11799 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; localB->b_i_l |
| 11800 | ++) { |
| 11801 | AIn->data[(localB->coffset + localB->b_i_l) + 1] = 0.0; |
| 11802 | } |
| 11803 | |
| 11804 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; localB->nx_n++) |
| 11805 | { |
| 11806 | localB->s_j = A->data[(localB->boffset + localB->nx_n) + 1]; |
| 11807 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 11808 | localB->b_i_l = (localB->coffset + localB->j) + 1; |
| 11809 | AIn->data[localB->b_i_l] += A->data[localB->j * A->size[0] + |
| 11810 | localB->nx_n] * localB->s_j; |
| 11811 | } |
| 11812 | } |
| 11813 | } |
| 11814 | |
| 11815 | localB->b_i_l = A_2->size[0] * A_2->size[1]; |
| 11816 | A_2->size[0] = A->size[1]; |
| 11817 | A_2->size[1] = A->size[0]; |
| 11818 | cartes_emxEnsureCapacity_real_T(A_2, localB->b_i_l, localB); |
| 11819 | localB->i_i = A->size[0]; |
| 11820 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) |
| 11821 | { |
| 11822 | localB->n = A->size[1]; |
| 11823 | for (localB->idx = 0; localB->idx < localB->n; localB->idx++) { |
| 11824 | A_2->data[localB->idx + A_2->size[0] * localB->b_i_l] = A->data |
| 11825 | [A->size[0] * localB->idx + localB->b_i_l]; |
| 11826 | } |
| 11827 | } |
| 11828 | |
| 11829 | cartesian_trajectory_p_mldivide(AIn, A_2, a, localB); |
| 11830 | localB->m_i = a->size[0] - 1; |
| 11831 | localB->inner = a->size[1] - 1; |
| 11832 | localB->b_i_l = alpha->size[0]; |
| 11833 | alpha->size[0] = a->size[0]; |
| 11834 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 11835 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; localB->b_i_l++) |
| 11836 | { |
| 11837 | alpha->data[localB->b_i_l] = 0.0; |
| 11838 | } |
| 11839 | |
| 11840 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; localB->nx_n++) |
| 11841 | { |
| 11842 | localB->aoffset = localB->nx_n * a->size[0] - 1; |
| 11843 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 11844 | alpha->data[localB->j] += a->data[(localB->aoffset + localB->j) + |
| 11845 | 1] * grad->data[localB->nx_n]; |
| 11846 | } |
| 11847 | } |
| 11848 | } |
| 11849 | |
| 11850 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11851 | localB->Hg[localB->b_i_l] = 0.0; |
| 11852 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 11853 | localB->b_gamma = localB->H[6 * localB->idx + localB->b_i_l] * |
| 11854 | grad->data[localB->idx] + localB->Hg[localB->b_i_l]; |
| 11855 | localB->Hg[localB->b_i_l] = localB->b_gamma; |
| 11856 | } |
| 11857 | } |
| 11858 | |
| 11859 | if (DampedBFGSwGradientProjection_a(obj, localB->Hg, alpha)) { |
| 11860 | *exitFlag = LocalMinimumFound; |
| 11861 | args = obj->ExtraArgs; |
| 11862 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 11863 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix[localB->b_i_l]; |
| 11864 | } |
| 11865 | |
| 11866 | localB->b_i_l = grad->size[0]; |
| 11867 | grad->size[0] = args->ErrTemp->size[0]; |
| 11868 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 11869 | localB->i_i = args->ErrTemp->size[0]; |
| 11870 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) |
| 11871 | { |
| 11872 | grad->data[localB->b_i_l] = args->ErrTemp->data[localB->b_i_l]; |
| 11873 | } |
| 11874 | |
| 11875 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 11876 | localB->x[localB->b_i_l] = 0.0; |
| 11877 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 11878 | localB->A_f = localB->unusedU0[6 * localB->idx + localB->b_i_l] * |
| 11879 | grad->data[localB->idx] + localB->x[localB->b_i_l]; |
| 11880 | localB->x[localB->b_i_l] = localB->A_f; |
| 11881 | } |
| 11882 | } |
| 11883 | |
| 11884 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 11885 | *iter = static_cast<real_T>(localB->g_idx_0) + 1.0; |
| 11886 | exitg2 = 1; |
| 11887 | } else { |
| 11888 | guard1 = false; |
| 11889 | guard2 = false; |
| 11890 | if (obj->ConstraintsOn && ((A->size[0] != 0) && (A->size[1] != 0))) { |
| 11891 | localB->m_i = A->size[1] - 1; |
| 11892 | localB->inner = A->size[0] - 1; |
| 11893 | localB->n = A->size[1] - 1; |
| 11894 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 11895 | AIn->size[0] = A->size[1]; |
| 11896 | AIn->size[1] = A->size[1]; |
| 11897 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 11898 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 11899 | localB->coffset = (localB->m_i + 1) * localB->idx - 1; |
| 11900 | localB->boffset = localB->idx * A->size[0] - 1; |
| 11901 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 11902 | localB->b_i_l++) { |
| 11903 | AIn->data[(localB->coffset + localB->b_i_l) + 1] = 0.0; |
| 11904 | } |
| 11905 | |
| 11906 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; localB->nx_n |
| 11907 | ++) { |
| 11908 | localB->s_j = A->data[(localB->boffset + localB->nx_n) + 1]; |
| 11909 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 11910 | localB->b_i_l = (localB->coffset + localB->j) + 1; |
| 11911 | AIn->data[localB->b_i_l] += A->data[localB->j * A->size[0] + |
| 11912 | localB->nx_n] * localB->s_j; |
| 11913 | } |
| 11914 | } |
| 11915 | } |
| 11916 | |
| 11917 | cartesian_trajectory_planne_inv(AIn, a, localB); |
| 11918 | cartesian_trajectory_plann_diag(a, L, localB); |
| 11919 | cartesian_trajectory_pl_sqrt_nh(L); |
| 11920 | localB->b_i_l = alpha->size[0]; |
| 11921 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 11922 | localB->i_i = alpha->size[0]; |
| 11923 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) |
| 11924 | { |
| 11925 | alpha->data[localB->b_i_l] /= L->data[localB->b_i_l]; |
| 11926 | } |
| 11927 | |
| 11928 | localB->n = alpha->size[0]; |
| 11929 | if (alpha->size[0] <= 2) { |
| 11930 | if (alpha->size[0] == 1) { |
| 11931 | localB->s_j = alpha->data[0]; |
| 11932 | localB->idxl = 0; |
| 11933 | } else if ((alpha->data[0] < alpha->data[1]) || (rtIsNaN |
| 11934 | (alpha->data[0]) && (!rtIsNaN(alpha->data[1])))) { |
| 11935 | localB->s_j = alpha->data[1]; |
| 11936 | localB->idxl = 1; |
| 11937 | } else { |
| 11938 | localB->s_j = alpha->data[0]; |
| 11939 | localB->idxl = 0; |
| 11940 | } |
| 11941 | } else { |
| 11942 | if (!rtIsNaN(alpha->data[0])) { |
| 11943 | localB->idxl = 1; |
| 11944 | } else { |
| 11945 | localB->idxl = 0; |
| 11946 | localB->b_i_l = 2; |
| 11947 | exitg3 = false; |
| 11948 | while ((!exitg3) && (localB->b_i_l <= alpha->size[0])) { |
| 11949 | if (!rtIsNaN(alpha->data[localB->b_i_l - 1])) { |
| 11950 | localB->idxl = localB->b_i_l; |
| 11951 | exitg3 = true; |
| 11952 | } else { |
| 11953 | localB->b_i_l++; |
| 11954 | } |
| 11955 | } |
| 11956 | } |
| 11957 | |
| 11958 | if (localB->idxl == 0) { |
| 11959 | localB->s_j = alpha->data[0]; |
| 11960 | } else { |
| 11961 | localB->s_j = alpha->data[localB->idxl - 1]; |
| 11962 | localB->nx_n = localB->idxl; |
| 11963 | for (localB->b_i_l = localB->idxl + 1; localB->b_i_l <= |
| 11964 | localB->n; localB->b_i_l++) { |
| 11965 | if (localB->s_j < alpha->data[localB->b_i_l - 1]) { |
| 11966 | localB->s_j = alpha->data[localB->b_i_l - 1]; |
| 11967 | localB->nx_n = localB->b_i_l; |
| 11968 | } |
| 11969 | } |
| 11970 | |
| 11971 | localB->idxl = localB->nx_n - 1; |
| 11972 | } |
| 11973 | } |
| 11974 | |
| 11975 | if (cartesian_trajectory_pla_norm_j(localB->Hg) < 0.5 * localB->s_j) |
| 11976 | { |
| 11977 | localB->nx_n = activeSet->size[0]; |
| 11978 | localB->idx = 0; |
| 11979 | localB->b_i_l = ii->size[0]; |
| 11980 | ii->size[0] = activeSet->size[0]; |
| 11981 | carte_emxEnsureCapacity_int32_T(ii, localB->b_i_l); |
| 11982 | localB->b_i_l = 1; |
| 11983 | exitg3 = false; |
| 11984 | while ((!exitg3) && (localB->b_i_l - 1 <= localB->nx_n - 1)) { |
| 11985 | if (activeSet->data[localB->b_i_l - 1]) { |
| 11986 | localB->idx++; |
| 11987 | ii->data[localB->idx - 1] = localB->b_i_l; |
| 11988 | if (localB->idx >= localB->nx_n) { |
| 11989 | exitg3 = true; |
| 11990 | } else { |
| 11991 | localB->b_i_l++; |
| 11992 | } |
| 11993 | } else { |
| 11994 | localB->b_i_l++; |
| 11995 | } |
| 11996 | } |
| 11997 | |
| 11998 | if (activeSet->size[0] == 1) { |
| 11999 | if (localB->idx == 0) { |
| 12000 | ii->size[0] = 0; |
| 12001 | } |
| 12002 | } else { |
| 12003 | if (1 > localB->idx) { |
| 12004 | localB->idx = 0; |
| 12005 | } |
| 12006 | |
| 12007 | localB->b_i_l = ii_1->size[0]; |
| 12008 | ii_1->size[0] = localB->idx; |
| 12009 | carte_emxEnsureCapacity_int32_T(ii_1, localB->b_i_l); |
| 12010 | for (localB->b_i_l = 0; localB->b_i_l < localB->idx; |
| 12011 | localB->b_i_l++) { |
| 12012 | ii_1->data[localB->b_i_l] = ii->data[localB->b_i_l]; |
| 12013 | } |
| 12014 | |
| 12015 | localB->b_i_l = ii->size[0]; |
| 12016 | ii->size[0] = ii_1->size[0]; |
| 12017 | carte_emxEnsureCapacity_int32_T(ii, localB->b_i_l); |
| 12018 | localB->i_i = ii_1->size[0]; |
| 12019 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12020 | localB->b_i_l++) { |
| 12021 | ii->data[localB->b_i_l] = ii_1->data[localB->b_i_l]; |
| 12022 | } |
| 12023 | } |
| 12024 | |
| 12025 | localB->b_i_l = alpha->size[0]; |
| 12026 | alpha->size[0] = ii->size[0]; |
| 12027 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 12028 | localB->i_i = ii->size[0]; |
| 12029 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12030 | ++) { |
| 12031 | alpha->data[localB->b_i_l] = ii->data[localB->b_i_l]; |
| 12032 | } |
| 12033 | |
| 12034 | activeSet->data[static_cast<int32_T>(alpha->data[localB->idxl]) - |
| 12035 | 1] = false; |
| 12036 | localB->nx_n = activeSet->size[0] - 1; |
| 12037 | localB->idx = 0; |
| 12038 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12039 | localB->b_i_l++) { |
| 12040 | if (activeSet->data[localB->b_i_l]) { |
| 12041 | localB->idx++; |
| 12042 | } |
| 12043 | } |
| 12044 | |
| 12045 | localB->b_i_l = eb->size[0]; |
| 12046 | eb->size[0] = localB->idx; |
| 12047 | carte_emxEnsureCapacity_int32_T(eb, localB->b_i_l); |
| 12048 | localB->idx = 0; |
| 12049 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12050 | localB->b_i_l++) { |
| 12051 | if (activeSet->data[localB->b_i_l]) { |
| 12052 | eb->data[localB->idx] = localB->b_i_l + 1; |
| 12053 | localB->idx++; |
| 12054 | } |
| 12055 | } |
| 12056 | |
| 12057 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 12058 | localB->b_i_l = A->size[0] * A->size[1]; |
| 12059 | A->size[0] = localB->i_i; |
| 12060 | A->size[1] = eb->size[0]; |
| 12061 | cartes_emxEnsureCapacity_real_T(A, localB->b_i_l, localB); |
| 12062 | localB->n = eb->size[0]; |
| 12063 | for (localB->b_i_l = 0; localB->b_i_l < localB->n; localB->b_i_l++) |
| 12064 | { |
| 12065 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) |
| 12066 | { |
| 12067 | A->data[localB->idx + A->size[0] * localB->b_i_l] = |
| 12068 | obj->ConstraintMatrix->data[(eb->data[localB->b_i_l] - 1) * |
| 12069 | obj->ConstraintMatrix->size[0] + localB->idx]; |
| 12070 | } |
| 12071 | } |
| 12072 | |
| 12073 | localB->m_i = A->size[1] - 1; |
| 12074 | localB->inner = A->size[0] - 1; |
| 12075 | localB->n = A->size[1] - 1; |
| 12076 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 12077 | AIn->size[0] = A->size[1]; |
| 12078 | AIn->size[1] = A->size[1]; |
| 12079 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 12080 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 12081 | localB->coffset = (localB->m_i + 1) * localB->idx - 1; |
| 12082 | localB->boffset = localB->idx * A->size[0] - 1; |
| 12083 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 12084 | localB->b_i_l++) { |
| 12085 | AIn->data[(localB->coffset + localB->b_i_l) + 1] = 0.0; |
| 12086 | } |
| 12087 | |
| 12088 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; |
| 12089 | localB->nx_n++) { |
| 12090 | localB->s_j = A->data[(localB->boffset + localB->nx_n) + 1]; |
| 12091 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 12092 | localB->b_i_l = (localB->coffset + localB->j) + 1; |
| 12093 | AIn->data[localB->b_i_l] += A->data[localB->j * A->size[0] + |
| 12094 | localB->nx_n] * localB->s_j; |
| 12095 | } |
| 12096 | } |
| 12097 | } |
| 12098 | |
| 12099 | localB->b_i_l = A_3->size[0] * A_3->size[1]; |
| 12100 | A_3->size[0] = A->size[1]; |
| 12101 | A_3->size[1] = A->size[0]; |
| 12102 | cartes_emxEnsureCapacity_real_T(A_3, localB->b_i_l, localB); |
| 12103 | localB->i_i = A->size[0]; |
| 12104 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12105 | ++) { |
| 12106 | localB->n = A->size[1]; |
| 12107 | for (localB->idx = 0; localB->idx < localB->n; localB->idx++) { |
| 12108 | A_3->data[localB->idx + A_3->size[0] * localB->b_i_l] = |
| 12109 | A->data[A->size[0] * localB->idx + localB->b_i_l]; |
| 12110 | } |
| 12111 | } |
| 12112 | |
| 12113 | cartesian_trajectory_p_mldivide(AIn, A_3, a, localB); |
| 12114 | localB->m_i = A->size[0] - 1; |
| 12115 | localB->inner = A->size[1] - 1; |
| 12116 | localB->n = a->size[1] - 1; |
| 12117 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 12118 | AIn->size[0] = A->size[0]; |
| 12119 | AIn->size[1] = a->size[1]; |
| 12120 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 12121 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 12122 | localB->coffset = (localB->m_i + 1) * localB->idx - 1; |
| 12123 | localB->boffset = localB->idx * a->size[0] - 1; |
| 12124 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 12125 | localB->b_i_l++) { |
| 12126 | AIn->data[(localB->coffset + localB->b_i_l) + 1] = 0.0; |
| 12127 | } |
| 12128 | |
| 12129 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; |
| 12130 | localB->nx_n++) { |
| 12131 | localB->aoffset = localB->nx_n * A->size[0] - 1; |
| 12132 | localB->s_j = a->data[(localB->boffset + localB->nx_n) + 1]; |
| 12133 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 12134 | localB->i_i = localB->j + 1; |
| 12135 | localB->b_i_l = localB->coffset + localB->i_i; |
| 12136 | AIn->data[localB->b_i_l] += A->data[localB->aoffset + |
| 12137 | localB->i_i] * localB->s_j; |
| 12138 | } |
| 12139 | } |
| 12140 | } |
| 12141 | |
| 12142 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12143 | localB->P[localB->b_i_l] = localB->unusedU0[localB->b_i_l] - |
| 12144 | AIn->data[localB->b_i_l]; |
| 12145 | } |
| 12146 | |
| 12147 | localB->s_j = alpha->data[localB->idxl]; |
| 12148 | localB->b_i_l = static_cast<int32_T>(localB->s_j); |
| 12149 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 12150 | localB->idx = alpha->size[0]; |
| 12151 | alpha->size[0] = localB->i_i; |
| 12152 | cartes_emxEnsureCapacity_real_T(alpha, localB->idx, localB); |
| 12153 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) { |
| 12154 | alpha->data[localB->idx] = obj->ConstraintMatrix->data |
| 12155 | [(localB->b_i_l - 1) * obj->ConstraintMatrix->size[0] + |
| 12156 | localB->idx]; |
| 12157 | } |
| 12158 | |
| 12159 | localB->b_i_l = alpha_0->size[0] * alpha_0->size[1]; |
| 12160 | alpha_0->size[0] = 1; |
| 12161 | alpha_0->size[1] = alpha->size[0]; |
| 12162 | cartes_emxEnsureCapacity_real_T(alpha_0, localB->b_i_l, localB); |
| 12163 | localB->i_i = alpha->size[0]; |
| 12164 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12165 | ++) { |
| 12166 | alpha_0->data[localB->b_i_l] = alpha->data[localB->b_i_l]; |
| 12167 | } |
| 12168 | |
| 12169 | localB->s_j = 0.0; |
| 12170 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12171 | localB->Hg[localB->b_i_l] = 0.0; |
| 12172 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12173 | localB->b_gamma = localB->P[6 * localB->b_i_l + localB->idx] * |
| 12174 | alpha_0->data[localB->idx] + localB->Hg[localB->b_i_l]; |
| 12175 | localB->Hg[localB->b_i_l] = localB->b_gamma; |
| 12176 | } |
| 12177 | |
| 12178 | localB->s_j += localB->Hg[localB->b_i_l] * alpha->data |
| 12179 | [localB->b_i_l]; |
| 12180 | } |
| 12181 | |
| 12182 | localB->s_j = 1.0 / localB->s_j; |
| 12183 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12184 | localB->V[localB->b_i_l] = localB->s_j * localB->P[localB->b_i_l]; |
| 12185 | } |
| 12186 | |
| 12187 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 12188 | AIn->size[0] = alpha->size[0]; |
| 12189 | AIn->size[1] = alpha->size[0]; |
| 12190 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 12191 | localB->i_i = alpha->size[0]; |
| 12192 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12193 | ++) { |
| 12194 | localB->n = alpha->size[0]; |
| 12195 | for (localB->idx = 0; localB->idx < localB->n; localB->idx++) { |
| 12196 | AIn->data[localB->idx + AIn->size[0] * localB->b_i_l] = |
| 12197 | alpha->data[localB->idx] * alpha->data[localB->b_i_l]; |
| 12198 | } |
| 12199 | } |
| 12200 | |
| 12201 | localB->n = AIn->size[1] - 1; |
| 12202 | localB->b_i_l = unusedU1->size[0] * unusedU1->size[1]; |
| 12203 | unusedU1->size[0] = 6; |
| 12204 | unusedU1->size[1] = AIn->size[1]; |
| 12205 | cartes_emxEnsureCapacity_real_T(unusedU1, localB->b_i_l, localB); |
| 12206 | for (localB->idx = 0; localB->idx <= localB->n; localB->idx++) { |
| 12207 | localB->coffset = localB->idx * 6 - 1; |
| 12208 | localB->boffset = localB->idx * AIn->size[0] - 1; |
| 12209 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12210 | localB->s_j = 0.0; |
| 12211 | for (localB->nx_n = 0; localB->nx_n < 6; localB->nx_n++) { |
| 12212 | localB->s_j += localB->V[localB->nx_n * 6 + localB->b_i_l] * |
| 12213 | AIn->data[(localB->boffset + localB->nx_n) + 1]; |
| 12214 | } |
| 12215 | |
| 12216 | unusedU1->data[(localB->coffset + localB->b_i_l) + 1] = |
| 12217 | localB->s_j; |
| 12218 | } |
| 12219 | } |
| 12220 | |
| 12221 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12222 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12223 | localB->s_j = 0.0; |
| 12224 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12225 | localB->s_j += unusedU1->data[6 * localB->i_i + |
| 12226 | localB->b_i_l] * localB->P[6 * localB->idx + localB->i_i]; |
| 12227 | } |
| 12228 | |
| 12229 | localB->idxl = 6 * localB->idx + localB->b_i_l; |
| 12230 | localB->H[localB->idxl] += localB->s_j; |
| 12231 | } |
| 12232 | } |
| 12233 | |
| 12234 | localB->g_idx_0++; |
| 12235 | } else { |
| 12236 | guard2 = true; |
| 12237 | } |
| 12238 | } else { |
| 12239 | guard2 = true; |
| 12240 | } |
| 12241 | |
| 12242 | if (guard2) { |
| 12243 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12244 | localB->Hg[localB->b_i_l] = -localB->Hg[localB->b_i_l]; |
| 12245 | } |
| 12246 | |
| 12247 | localB->idxl = -1; |
| 12248 | if (obj->ConstraintsOn) { |
| 12249 | localB->b_i_l = x->size[0]; |
| 12250 | x->size[0] = activeSet->size[0]; |
| 12251 | car_emxEnsureCapacity_boolean_T(x, localB->b_i_l); |
| 12252 | localB->i_i = activeSet->size[0]; |
| 12253 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12254 | ++) { |
| 12255 | x->data[localB->b_i_l] = !activeSet->data[localB->b_i_l]; |
| 12256 | } |
| 12257 | |
| 12258 | if (cartesian_trajectory_planne_any(x)) { |
| 12259 | localB->nx_n = activeSet->size[0] - 1; |
| 12260 | localB->idx = 0; |
| 12261 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12262 | localB->b_i_l++) { |
| 12263 | if (!activeSet->data[localB->b_i_l]) { |
| 12264 | localB->idx++; |
| 12265 | } |
| 12266 | } |
| 12267 | |
| 12268 | localB->b_i_l = cb->size[0]; |
| 12269 | cb->size[0] = localB->idx; |
| 12270 | carte_emxEnsureCapacity_int32_T(cb, localB->b_i_l); |
| 12271 | localB->idx = 0; |
| 12272 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12273 | localB->b_i_l++) { |
| 12274 | if (!activeSet->data[localB->b_i_l]) { |
| 12275 | cb->data[localB->idx] = localB->b_i_l + 1; |
| 12276 | localB->idx++; |
| 12277 | } |
| 12278 | } |
| 12279 | |
| 12280 | localB->b_i_l = alpha->size[0]; |
| 12281 | alpha->size[0] = cb->size[0]; |
| 12282 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 12283 | localB->i_i = cb->size[0]; |
| 12284 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12285 | localB->b_i_l++) { |
| 12286 | alpha->data[localB->b_i_l] = obj->ConstraintBound->data |
| 12287 | [cb->data[localB->b_i_l] - 1]; |
| 12288 | } |
| 12289 | |
| 12290 | localB->nx_n = activeSet->size[0] - 1; |
| 12291 | localB->idx = 0; |
| 12292 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12293 | localB->b_i_l++) { |
| 12294 | if (!activeSet->data[localB->b_i_l]) { |
| 12295 | localB->idx++; |
| 12296 | } |
| 12297 | } |
| 12298 | |
| 12299 | localB->b_i_l = db->size[0]; |
| 12300 | db->size[0] = localB->idx; |
| 12301 | carte_emxEnsureCapacity_int32_T(db, localB->b_i_l); |
| 12302 | localB->idx = 0; |
| 12303 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12304 | localB->b_i_l++) { |
| 12305 | if (!activeSet->data[localB->b_i_l]) { |
| 12306 | db->data[localB->idx] = localB->b_i_l + 1; |
| 12307 | localB->idx++; |
| 12308 | } |
| 12309 | } |
| 12310 | |
| 12311 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 12312 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 12313 | AIn->size[0] = localB->i_i; |
| 12314 | AIn->size[1] = db->size[0]; |
| 12315 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 12316 | localB->n = db->size[0]; |
| 12317 | for (localB->b_i_l = 0; localB->b_i_l < localB->n; localB->b_i_l |
| 12318 | ++) { |
| 12319 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) |
| 12320 | { |
| 12321 | AIn->data[localB->idx + AIn->size[0] * localB->b_i_l] = |
| 12322 | obj->ConstraintMatrix->data[(db->data[localB->b_i_l] - 1) * |
| 12323 | obj->ConstraintMatrix->size[0] + localB->idx]; |
| 12324 | } |
| 12325 | } |
| 12326 | |
| 12327 | localB->nx_n = x->size[0]; |
| 12328 | localB->idx = 0; |
| 12329 | localB->b_i_l = ii->size[0]; |
| 12330 | ii->size[0] = x->size[0]; |
| 12331 | carte_emxEnsureCapacity_int32_T(ii, localB->b_i_l); |
| 12332 | localB->b_i_l = 1; |
| 12333 | exitg3 = false; |
| 12334 | while ((!exitg3) && (localB->b_i_l - 1 <= localB->nx_n - 1)) { |
| 12335 | if (x->data[localB->b_i_l - 1]) { |
| 12336 | localB->idx++; |
| 12337 | ii->data[localB->idx - 1] = localB->b_i_l; |
| 12338 | if (localB->idx >= localB->nx_n) { |
| 12339 | exitg3 = true; |
| 12340 | } else { |
| 12341 | localB->b_i_l++; |
| 12342 | } |
| 12343 | } else { |
| 12344 | localB->b_i_l++; |
| 12345 | } |
| 12346 | } |
| 12347 | |
| 12348 | if (x->size[0] == 1) { |
| 12349 | if (localB->idx == 0) { |
| 12350 | ii->size[0] = 0; |
| 12351 | } |
| 12352 | } else { |
| 12353 | if (1 > localB->idx) { |
| 12354 | localB->idx = 0; |
| 12355 | } |
| 12356 | |
| 12357 | localB->b_i_l = ii_2->size[0]; |
| 12358 | ii_2->size[0] = localB->idx; |
| 12359 | carte_emxEnsureCapacity_int32_T(ii_2, localB->b_i_l); |
| 12360 | for (localB->b_i_l = 0; localB->b_i_l < localB->idx; |
| 12361 | localB->b_i_l++) { |
| 12362 | ii_2->data[localB->b_i_l] = ii->data[localB->b_i_l]; |
| 12363 | } |
| 12364 | |
| 12365 | localB->b_i_l = ii->size[0]; |
| 12366 | ii->size[0] = ii_2->size[0]; |
| 12367 | carte_emxEnsureCapacity_int32_T(ii, localB->b_i_l); |
| 12368 | localB->i_i = ii_2->size[0]; |
| 12369 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12370 | localB->b_i_l++) { |
| 12371 | ii->data[localB->b_i_l] = ii_2->data[localB->b_i_l]; |
| 12372 | } |
| 12373 | } |
| 12374 | |
| 12375 | localB->m_i = AIn->size[1] - 1; |
| 12376 | localB->inner = AIn->size[0] - 1; |
| 12377 | localB->b_i_l = L->size[0]; |
| 12378 | L->size[0] = AIn->size[1]; |
| 12379 | cartes_emxEnsureCapacity_real_T(L, localB->b_i_l, localB); |
| 12380 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 12381 | localB->b_i_l++) { |
| 12382 | L->data[localB->b_i_l] = 0.0; |
| 12383 | } |
| 12384 | |
| 12385 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; |
| 12386 | localB->nx_n++) { |
| 12387 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 12388 | L->data[localB->j] += AIn->data[localB->j * AIn->size[0] + |
| 12389 | localB->nx_n] * localB->x[localB->nx_n]; |
| 12390 | } |
| 12391 | } |
| 12392 | |
| 12393 | localB->m_i = AIn->size[1] - 1; |
| 12394 | localB->inner = AIn->size[0] - 1; |
| 12395 | localB->b_i_l = y->size[0]; |
| 12396 | y->size[0] = AIn->size[1]; |
| 12397 | cartes_emxEnsureCapacity_real_T(y, localB->b_i_l, localB); |
| 12398 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 12399 | localB->b_i_l++) { |
| 12400 | y->data[localB->b_i_l] = 0.0; |
| 12401 | } |
| 12402 | |
| 12403 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; |
| 12404 | localB->nx_n++) { |
| 12405 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 12406 | y->data[localB->j] += AIn->data[localB->j * AIn->size[0] + |
| 12407 | localB->nx_n] * localB->Hg[localB->nx_n]; |
| 12408 | } |
| 12409 | } |
| 12410 | |
| 12411 | localB->b_i_l = alpha->size[0]; |
| 12412 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 12413 | localB->i_i = alpha->size[0]; |
| 12414 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12415 | localB->b_i_l++) { |
| 12416 | alpha->data[localB->b_i_l] = (alpha->data[localB->b_i_l] - |
| 12417 | L->data[localB->b_i_l]) / y->data[localB->b_i_l]; |
| 12418 | } |
| 12419 | |
| 12420 | localB->b_i_l = x->size[0]; |
| 12421 | x->size[0] = alpha->size[0]; |
| 12422 | car_emxEnsureCapacity_boolean_T(x, localB->b_i_l); |
| 12423 | localB->i_i = alpha->size[0]; |
| 12424 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12425 | localB->b_i_l++) { |
| 12426 | x->data[localB->b_i_l] = (alpha->data[localB->b_i_l] > 0.0); |
| 12427 | } |
| 12428 | |
| 12429 | localB->nx_n = x->size[0]; |
| 12430 | localB->idx = 0; |
| 12431 | localB->b_i_l = ii_0->size[0]; |
| 12432 | ii_0->size[0] = x->size[0]; |
| 12433 | carte_emxEnsureCapacity_int32_T(ii_0, localB->b_i_l); |
| 12434 | localB->b_i_l = 1; |
| 12435 | exitg3 = false; |
| 12436 | while ((!exitg3) && (localB->b_i_l - 1 <= localB->nx_n - 1)) { |
| 12437 | if (x->data[localB->b_i_l - 1]) { |
| 12438 | localB->idx++; |
| 12439 | ii_0->data[localB->idx - 1] = localB->b_i_l; |
| 12440 | if (localB->idx >= localB->nx_n) { |
| 12441 | exitg3 = true; |
| 12442 | } else { |
| 12443 | localB->b_i_l++; |
| 12444 | } |
| 12445 | } else { |
| 12446 | localB->b_i_l++; |
| 12447 | } |
| 12448 | } |
| 12449 | |
| 12450 | if (x->size[0] == 1) { |
| 12451 | if (localB->idx == 0) { |
| 12452 | ii_0->size[0] = 0; |
| 12453 | } |
| 12454 | } else { |
| 12455 | if (1 > localB->idx) { |
| 12456 | localB->idx = 0; |
| 12457 | } |
| 12458 | |
| 12459 | localB->b_i_l = ii_3->size[0]; |
| 12460 | ii_3->size[0] = localB->idx; |
| 12461 | carte_emxEnsureCapacity_int32_T(ii_3, localB->b_i_l); |
| 12462 | for (localB->b_i_l = 0; localB->b_i_l < localB->idx; |
| 12463 | localB->b_i_l++) { |
| 12464 | ii_3->data[localB->b_i_l] = ii_0->data[localB->b_i_l]; |
| 12465 | } |
| 12466 | |
| 12467 | localB->b_i_l = ii_0->size[0]; |
| 12468 | ii_0->size[0] = ii_3->size[0]; |
| 12469 | carte_emxEnsureCapacity_int32_T(ii_0, localB->b_i_l); |
| 12470 | localB->i_i = ii_3->size[0]; |
| 12471 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12472 | localB->b_i_l++) { |
| 12473 | ii_0->data[localB->b_i_l] = ii_3->data[localB->b_i_l]; |
| 12474 | } |
| 12475 | } |
| 12476 | |
| 12477 | localB->b_i_l = L->size[0]; |
| 12478 | L->size[0] = ii_0->size[0]; |
| 12479 | cartes_emxEnsureCapacity_real_T(L, localB->b_i_l, localB); |
| 12480 | localB->i_i = ii_0->size[0]; |
| 12481 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12482 | localB->b_i_l++) { |
| 12483 | L->data[localB->b_i_l] = ii_0->data[localB->b_i_l]; |
| 12484 | } |
| 12485 | |
| 12486 | if (L->size[0] != 0) { |
| 12487 | localB->nx_n = alpha->size[0] - 1; |
| 12488 | localB->idx = 0; |
| 12489 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12490 | localB->b_i_l++) { |
| 12491 | if (alpha->data[localB->b_i_l] > 0.0) { |
| 12492 | localB->idx++; |
| 12493 | } |
| 12494 | } |
| 12495 | |
| 12496 | localB->b_i_l = fb->size[0]; |
| 12497 | fb->size[0] = localB->idx; |
| 12498 | carte_emxEnsureCapacity_int32_T(fb, localB->b_i_l); |
| 12499 | localB->idx = 0; |
| 12500 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12501 | localB->b_i_l++) { |
| 12502 | if (alpha->data[localB->b_i_l] > 0.0) { |
| 12503 | fb->data[localB->idx] = localB->b_i_l + 1; |
| 12504 | localB->idx++; |
| 12505 | } |
| 12506 | } |
| 12507 | |
| 12508 | localB->n = fb->size[0]; |
| 12509 | if (fb->size[0] <= 2) { |
| 12510 | if (fb->size[0] == 1) { |
| 12511 | localB->s_j = alpha->data[fb->data[0] - 1]; |
| 12512 | localB->idxl = 0; |
| 12513 | } else if ((alpha->data[fb->data[0] - 1] > alpha->data |
| 12514 | [fb->data[1] - 1]) || (rtIsNaN(alpha->data |
| 12515 | [fb->data[0] - 1]) && (!rtIsNaN(alpha->data |
| 12516 | [fb->data[1] - 1])))) { |
| 12517 | localB->s_j = alpha->data[fb->data[1] - 1]; |
| 12518 | localB->idxl = 1; |
| 12519 | } else { |
| 12520 | localB->s_j = alpha->data[fb->data[0] - 1]; |
| 12521 | localB->idxl = 0; |
| 12522 | } |
| 12523 | } else { |
| 12524 | if (!rtIsNaN(alpha->data[fb->data[0] - 1])) { |
| 12525 | localB->idxl = 1; |
| 12526 | } else { |
| 12527 | localB->idxl = 0; |
| 12528 | localB->b_i_l = 2; |
| 12529 | exitg3 = false; |
| 12530 | while ((!exitg3) && (localB->b_i_l <= fb->size[0])) { |
| 12531 | if (!rtIsNaN(alpha->data[fb->data[localB->b_i_l - 1] - 1])) |
| 12532 | { |
| 12533 | localB->idxl = localB->b_i_l; |
| 12534 | exitg3 = true; |
| 12535 | } else { |
| 12536 | localB->b_i_l++; |
| 12537 | } |
| 12538 | } |
| 12539 | } |
| 12540 | |
| 12541 | if (localB->idxl == 0) { |
| 12542 | localB->s_j = alpha->data[fb->data[0] - 1]; |
| 12543 | } else { |
| 12544 | localB->s_j = alpha->data[fb->data[localB->idxl - 1] - 1]; |
| 12545 | localB->nx_n = localB->idxl; |
| 12546 | for (localB->b_i_l = localB->idxl + 1; localB->b_i_l <= |
| 12547 | localB->n; localB->b_i_l++) { |
| 12548 | if (localB->s_j > alpha->data[fb->data[localB->b_i_l - 1] |
| 12549 | - 1]) { |
| 12550 | localB->s_j = alpha->data[fb->data[localB->b_i_l - 1] |
| 12551 | - 1]; |
| 12552 | localB->nx_n = localB->b_i_l; |
| 12553 | } |
| 12554 | } |
| 12555 | |
| 12556 | localB->idxl = localB->nx_n - 1; |
| 12557 | } |
| 12558 | } |
| 12559 | |
| 12560 | localB->idxl = ii->data[static_cast<int32_T>(L->data |
| 12561 | [localB->idxl]) - 1]; |
| 12562 | } else { |
| 12563 | localB->s_j = 0.0; |
| 12564 | } |
| 12565 | } else { |
| 12566 | localB->s_j = 0.0; |
| 12567 | } |
| 12568 | } else { |
| 12569 | localB->s_j = 0.0; |
| 12570 | } |
| 12571 | |
| 12572 | if (localB->s_j > 0.0) { |
| 12573 | if (1.0 < localB->s_j) { |
| 12574 | localB->b_gamma = 1.0; |
| 12575 | } else { |
| 12576 | localB->b_gamma = localB->s_j; |
| 12577 | } |
| 12578 | } else { |
| 12579 | localB->b_gamma = 1.0; |
| 12580 | } |
| 12581 | |
| 12582 | localB->beta = obj->ArmijoRuleBeta; |
| 12583 | localB->sigma = obj->ArmijoRuleSigma; |
| 12584 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12585 | localB->sNew_m[localB->b_i_l] = localB->b_gamma * localB-> |
| 12586 | Hg[localB->b_i_l] + localB->x[localB->b_i_l]; |
| 12587 | } |
| 12588 | |
| 12589 | cartesian_IKHelpers_computeCost(localB->sNew_m, obj->ExtraArgs, |
| 12590 | &localB->costNew, localB->V, unusedU1, &c, localB); |
| 12591 | obj->ExtraArgs = c; |
| 12592 | localB->m = 0.0; |
| 12593 | do { |
| 12594 | exitg1 = 0; |
| 12595 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12596 | xSol[localB->i_i] = localB->b_gamma * localB->Hg[localB->i_i]; |
| 12597 | } |
| 12598 | |
| 12599 | localB->b_i_l = sigma->size[0] * sigma->size[1]; |
| 12600 | sigma->size[0] = 1; |
| 12601 | sigma->size[1] = grad->size[0]; |
| 12602 | cartes_emxEnsureCapacity_real_T(sigma, localB->b_i_l, localB); |
| 12603 | localB->i_i = grad->size[0]; |
| 12604 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12605 | ++) { |
| 12606 | sigma->data[localB->b_i_l] = -localB->sigma * grad->data |
| 12607 | [localB->b_i_l]; |
| 12608 | } |
| 12609 | |
| 12610 | localB->sigma_a = 0.0; |
| 12611 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12612 | localB->sigma_a += sigma->data[localB->b_i_l] * xSol |
| 12613 | [localB->b_i_l]; |
| 12614 | } |
| 12615 | |
| 12616 | if (localB->cost - localB->costNew < localB->sigma_a) { |
| 12617 | localB->flag = (localB->b_gamma < obj->StepTolerance); |
| 12618 | if (localB->flag) { |
| 12619 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12620 | xSol[localB->i_i] = localB->x[localB->i_i]; |
| 12621 | } |
| 12622 | |
| 12623 | *exitFlag = StepSizeBelowMinimum; |
| 12624 | args = obj->ExtraArgs; |
| 12625 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12626 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix |
| 12627 | [localB->b_i_l]; |
| 12628 | } |
| 12629 | |
| 12630 | localB->b_i_l = grad->size[0]; |
| 12631 | grad->size[0] = args->ErrTemp->size[0]; |
| 12632 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 12633 | localB->i_i = args->ErrTemp->size[0]; |
| 12634 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12635 | localB->b_i_l++) { |
| 12636 | grad->data[localB->b_i_l] = args->ErrTemp->data |
| 12637 | [localB->b_i_l]; |
| 12638 | } |
| 12639 | |
| 12640 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12641 | localB->x[localB->b_i_l] = 0.0; |
| 12642 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12643 | localB->A_f = localB->unusedU0[6 * localB->idx + |
| 12644 | localB->b_i_l] * grad->data[localB->idx] + localB-> |
| 12645 | x[localB->b_i_l]; |
| 12646 | localB->x[localB->b_i_l] = localB->A_f; |
| 12647 | } |
| 12648 | } |
| 12649 | |
| 12650 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 12651 | *iter = static_cast<real_T>(localB->g_idx_0) + 1.0; |
| 12652 | exitg1 = 1; |
| 12653 | } else { |
| 12654 | localB->b_gamma *= localB->beta; |
| 12655 | localB->m++; |
| 12656 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12657 | localB->sNew_m[localB->b_i_l] = localB->b_gamma * localB-> |
| 12658 | Hg[localB->b_i_l] + localB->x[localB->b_i_l]; |
| 12659 | } |
| 12660 | |
| 12661 | cartesian_IKHelpers_computeCost(localB->sNew_m, obj->ExtraArgs, |
| 12662 | &localB->costNew, localB->V, unusedU1, &d, localB); |
| 12663 | obj->ExtraArgs = d; |
| 12664 | } |
| 12665 | } else { |
| 12666 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12667 | xSol[localB->b_i_l] += localB->x[localB->b_i_l]; |
| 12668 | } |
| 12669 | |
| 12670 | args = obj->ExtraArgs; |
| 12671 | localB->b_i_l = alpha->size[0]; |
| 12672 | alpha->size[0] = args->GradTemp->size[0]; |
| 12673 | cartes_emxEnsureCapacity_real_T(alpha, localB->b_i_l, localB); |
| 12674 | localB->i_i = args->GradTemp->size[0]; |
| 12675 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12676 | localB->b_i_l++) { |
| 12677 | alpha->data[localB->b_i_l] = args->GradTemp->data |
| 12678 | [localB->b_i_l]; |
| 12679 | } |
| 12680 | |
| 12681 | exitg1 = 2; |
| 12682 | } |
| 12683 | } while (exitg1 == 0); |
| 12684 | |
| 12685 | if (exitg1 == 1) { |
| 12686 | exitg2 = 1; |
| 12687 | } else if ((localB->m == 0.0) && (fabs(localB->b_gamma - localB->s_j) |
| 12688 | < 1.4901161193847656E-8)) { |
| 12689 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 12690 | localB->b_i_l = grad->size[0]; |
| 12691 | grad->size[0] = localB->i_i; |
| 12692 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 12693 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12694 | ++) { |
| 12695 | grad->data[localB->b_i_l] = obj->ConstraintMatrix->data |
| 12696 | [(localB->idxl - 1) * obj->ConstraintMatrix->size[0] + |
| 12697 | localB->b_i_l]; |
| 12698 | } |
| 12699 | |
| 12700 | activeSet->data[localB->idxl - 1] = true; |
| 12701 | localB->nx_n = activeSet->size[0] - 1; |
| 12702 | localB->idx = 0; |
| 12703 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12704 | localB->b_i_l++) { |
| 12705 | if (activeSet->data[localB->b_i_l]) { |
| 12706 | localB->idx++; |
| 12707 | } |
| 12708 | } |
| 12709 | |
| 12710 | localB->b_i_l = gb->size[0]; |
| 12711 | gb->size[0] = localB->idx; |
| 12712 | carte_emxEnsureCapacity_int32_T(gb, localB->b_i_l); |
| 12713 | localB->idx = 0; |
| 12714 | for (localB->b_i_l = 0; localB->b_i_l <= localB->nx_n; |
| 12715 | localB->b_i_l++) { |
| 12716 | if (activeSet->data[localB->b_i_l]) { |
| 12717 | gb->data[localB->idx] = localB->b_i_l + 1; |
| 12718 | localB->idx++; |
| 12719 | } |
| 12720 | } |
| 12721 | |
| 12722 | localB->i_i = obj->ConstraintMatrix->size[0]; |
| 12723 | localB->b_i_l = A->size[0] * A->size[1]; |
| 12724 | A->size[0] = localB->i_i; |
| 12725 | A->size[1] = gb->size[0]; |
| 12726 | cartes_emxEnsureCapacity_real_T(A, localB->b_i_l, localB); |
| 12727 | localB->n = gb->size[0]; |
| 12728 | for (localB->b_i_l = 0; localB->b_i_l < localB->n; localB->b_i_l++) |
| 12729 | { |
| 12730 | for (localB->idx = 0; localB->idx < localB->i_i; localB->idx++) |
| 12731 | { |
| 12732 | A->data[localB->idx + A->size[0] * localB->b_i_l] = |
| 12733 | obj->ConstraintMatrix->data[(gb->data[localB->b_i_l] - 1) * |
| 12734 | obj->ConstraintMatrix->size[0] + localB->idx]; |
| 12735 | } |
| 12736 | } |
| 12737 | |
| 12738 | localB->b_i_l = AIn->size[0] * AIn->size[1]; |
| 12739 | AIn->size[0] = grad->size[0]; |
| 12740 | AIn->size[1] = grad->size[0]; |
| 12741 | cartes_emxEnsureCapacity_real_T(AIn, localB->b_i_l, localB); |
| 12742 | localB->i_i = grad->size[0]; |
| 12743 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12744 | ++) { |
| 12745 | localB->n = grad->size[0]; |
| 12746 | for (localB->idx = 0; localB->idx < localB->n; localB->idx++) { |
| 12747 | AIn->data[localB->idx + AIn->size[0] * localB->b_i_l] = |
| 12748 | grad->data[localB->idx] * grad->data[localB->b_i_l]; |
| 12749 | } |
| 12750 | } |
| 12751 | |
| 12752 | localB->m_i = AIn->size[0] - 1; |
| 12753 | localB->inner = AIn->size[1] - 1; |
| 12754 | localB->b_i_l = y_0->size[0] * y_0->size[1]; |
| 12755 | y_0->size[0] = AIn->size[0]; |
| 12756 | y_0->size[1] = 6; |
| 12757 | cartes_emxEnsureCapacity_real_T(y_0, localB->b_i_l, localB); |
| 12758 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12759 | localB->coffset = (localB->m_i + 1) * localB->idx - 1; |
| 12760 | localB->boffset = localB->idx * 6 - 1; |
| 12761 | for (localB->b_i_l = 0; localB->b_i_l <= localB->m_i; |
| 12762 | localB->b_i_l++) { |
| 12763 | y_0->data[(localB->coffset + localB->b_i_l) + 1] = 0.0; |
| 12764 | } |
| 12765 | |
| 12766 | for (localB->nx_n = 0; localB->nx_n <= localB->inner; |
| 12767 | localB->nx_n++) { |
| 12768 | localB->aoffset = localB->nx_n * AIn->size[0] - 1; |
| 12769 | localB->s_j = localB->H[(localB->boffset + localB->nx_n) + 1]; |
| 12770 | for (localB->j = 0; localB->j <= localB->m_i; localB->j++) { |
| 12771 | localB->i_i = localB->j + 1; |
| 12772 | localB->b_i_l = localB->coffset + localB->i_i; |
| 12773 | y_0->data[localB->b_i_l] += AIn->data[localB->aoffset + |
| 12774 | localB->i_i] * localB->s_j; |
| 12775 | } |
| 12776 | } |
| 12777 | } |
| 12778 | |
| 12779 | localB->b_i_l = grad_1->size[0] * grad_1->size[1]; |
| 12780 | grad_1->size[0] = 1; |
| 12781 | grad_1->size[1] = grad->size[0]; |
| 12782 | cartes_emxEnsureCapacity_real_T(grad_1, localB->b_i_l, localB); |
| 12783 | localB->i_i = grad->size[0]; |
| 12784 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12785 | ++) { |
| 12786 | grad_1->data[localB->b_i_l] = grad->data[localB->b_i_l]; |
| 12787 | } |
| 12788 | |
| 12789 | localB->beta = 0.0; |
| 12790 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12791 | localB->sNew_m[localB->b_i_l] = 0.0; |
| 12792 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12793 | localB->sigma = localB->H[6 * localB->b_i_l + localB->idx] * |
| 12794 | grad_1->data[localB->idx] + localB->sNew_m[localB->b_i_l]; |
| 12795 | localB->sNew_m[localB->b_i_l] = localB->sigma; |
| 12796 | } |
| 12797 | |
| 12798 | localB->beta += localB->sNew_m[localB->b_i_l] * grad-> |
| 12799 | data[localB->b_i_l]; |
| 12800 | } |
| 12801 | |
| 12802 | localB->s_j = 1.0 / localB->beta; |
| 12803 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12804 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12805 | localB->idxl = localB->b_i_l + 6 * localB->idx; |
| 12806 | localB->H_m[localB->idxl] = 0.0; |
| 12807 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12808 | localB->H_m[localB->idxl] += localB->H[6 * localB->i_i + |
| 12809 | localB->b_i_l] * y_0->data[6 * localB->idx + localB->i_i]; |
| 12810 | } |
| 12811 | } |
| 12812 | } |
| 12813 | |
| 12814 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12815 | localB->H[localB->b_i_l] -= localB->s_j * localB->H_m |
| 12816 | [localB->b_i_l]; |
| 12817 | } |
| 12818 | |
| 12819 | guard1 = true; |
| 12820 | } else { |
| 12821 | localB->b_i_l = grad->size[0]; |
| 12822 | grad->size[0] = alpha->size[0]; |
| 12823 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 12824 | localB->i_i = alpha->size[0]; |
| 12825 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12826 | ++) { |
| 12827 | grad->data[localB->b_i_l] = alpha->data[localB->b_i_l] - |
| 12828 | grad->data[localB->b_i_l]; |
| 12829 | } |
| 12830 | |
| 12831 | localB->b_gamma = 0.0; |
| 12832 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12833 | localB->b_gamma += localB->Hg[localB->b_i_l] * grad->data |
| 12834 | [localB->b_i_l]; |
| 12835 | } |
| 12836 | |
| 12837 | localB->b_i_l = tmp->size[0] * tmp->size[1]; |
| 12838 | tmp->size[0] = 1; |
| 12839 | tmp->size[1] = grad->size[0]; |
| 12840 | cartes_emxEnsureCapacity_real_T(tmp, localB->b_i_l, localB); |
| 12841 | localB->i_i = grad->size[0]; |
| 12842 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12843 | ++) { |
| 12844 | tmp->data[localB->b_i_l] = 0.2 * grad->data[localB->b_i_l]; |
| 12845 | } |
| 12846 | |
| 12847 | localB->s_j = 0.0; |
| 12848 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12849 | localB->sNew_m[localB->b_i_l] = 0.0; |
| 12850 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12851 | localB->beta = localB->H[6 * localB->b_i_l + localB->idx] * |
| 12852 | tmp->data[localB->idx] + localB->sNew_m[localB->b_i_l]; |
| 12853 | localB->sNew_m[localB->b_i_l] = localB->beta; |
| 12854 | } |
| 12855 | |
| 12856 | localB->s_j += localB->sNew_m[localB->b_i_l] * grad->data |
| 12857 | [localB->b_i_l]; |
| 12858 | } |
| 12859 | |
| 12860 | if (localB->b_gamma < localB->s_j) { |
| 12861 | localB->b_i_l = tmp_0->size[0] * tmp_0->size[1]; |
| 12862 | tmp_0->size[0] = 1; |
| 12863 | tmp_0->size[1] = grad->size[0]; |
| 12864 | cartes_emxEnsureCapacity_real_T(tmp_0, localB->b_i_l, localB); |
| 12865 | localB->i_i = grad->size[0]; |
| 12866 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12867 | localB->b_i_l++) { |
| 12868 | tmp_0->data[localB->b_i_l] = 0.8 * grad->data[localB->b_i_l]; |
| 12869 | } |
| 12870 | |
| 12871 | localB->s_j = 0.0; |
| 12872 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12873 | localB->sNew_m[localB->b_i_l] = 0.0; |
| 12874 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12875 | localB->beta = localB->H[6 * localB->b_i_l + localB->idx] * |
| 12876 | tmp_0->data[localB->idx] + localB->sNew_m[localB->b_i_l]; |
| 12877 | localB->sNew_m[localB->b_i_l] = localB->beta; |
| 12878 | } |
| 12879 | |
| 12880 | localB->s_j += localB->sNew_m[localB->b_i_l] * grad-> |
| 12881 | data[localB->b_i_l]; |
| 12882 | } |
| 12883 | |
| 12884 | localB->b_i_l = grad_0->size[0] * grad_0->size[1]; |
| 12885 | grad_0->size[0] = 1; |
| 12886 | grad_0->size[1] = grad->size[0]; |
| 12887 | cartes_emxEnsureCapacity_real_T(grad_0, localB->b_i_l, localB); |
| 12888 | localB->i_i = grad->size[0]; |
| 12889 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12890 | localB->b_i_l++) { |
| 12891 | grad_0->data[localB->b_i_l] = grad->data[localB->b_i_l]; |
| 12892 | } |
| 12893 | |
| 12894 | localB->beta = 0.0; |
| 12895 | localB->b_gamma = 0.0; |
| 12896 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12897 | localB->sNew_m[localB->b_i_l] = 0.0; |
| 12898 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12899 | localB->sigma = localB->H[6 * localB->b_i_l + localB->idx] * |
| 12900 | grad_0->data[localB->idx] + localB->sNew_m[localB->b_i_l]; |
| 12901 | localB->sNew_m[localB->b_i_l] = localB->sigma; |
| 12902 | } |
| 12903 | |
| 12904 | localB->beta += localB->sNew_m[localB->b_i_l] * grad-> |
| 12905 | data[localB->b_i_l]; |
| 12906 | localB->b_gamma += localB->Hg[localB->b_i_l] * grad-> |
| 12907 | data[localB->b_i_l]; |
| 12908 | } |
| 12909 | |
| 12910 | localB->b_gamma = localB->s_j / (localB->beta - localB->b_gamma); |
| 12911 | } else { |
| 12912 | localB->b_gamma = 1.0; |
| 12913 | } |
| 12914 | |
| 12915 | localB->beta = 0.0; |
| 12916 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12917 | localB->s_j = 0.0; |
| 12918 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12919 | localB->s_j += localB->H[6 * localB->idx + localB->b_i_l] * |
| 12920 | (1.0 - localB->b_gamma) * grad->data[localB->idx]; |
| 12921 | } |
| 12922 | |
| 12923 | localB->s_j += localB->b_gamma * localB->Hg[localB->b_i_l]; |
| 12924 | localB->beta += localB->s_j * grad->data[localB->b_i_l]; |
| 12925 | localB->sNew_m[localB->b_i_l] = localB->s_j; |
| 12926 | } |
| 12927 | |
| 12928 | localB->b_i_l = sNew->size[0] * sNew->size[1]; |
| 12929 | sNew->size[0] = 6; |
| 12930 | sNew->size[1] = grad->size[0]; |
| 12931 | cartes_emxEnsureCapacity_real_T(sNew, localB->b_i_l, localB); |
| 12932 | localB->i_i = grad->size[0]; |
| 12933 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 12934 | ++) { |
| 12935 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12936 | localB->s_j = localB->sNew_m[localB->idx] * grad->data |
| 12937 | [localB->b_i_l]; |
| 12938 | sNew->data[localB->idx + 6 * localB->b_i_l] = localB->s_j / |
| 12939 | localB->beta; |
| 12940 | } |
| 12941 | } |
| 12942 | |
| 12943 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12944 | localB->V[localB->b_i_l] = localB->unusedU0[localB->b_i_l] - |
| 12945 | sNew->data[localB->b_i_l]; |
| 12946 | } |
| 12947 | |
| 12948 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12949 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12950 | localB->nx_n = localB->b_i_l + 6 * localB->idx; |
| 12951 | localB->H_m[localB->nx_n] = 0.0; |
| 12952 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12953 | localB->H_m[localB->nx_n] += localB->V[6 * localB->i_i + |
| 12954 | localB->b_i_l] * localB->H[6 * localB->idx + localB->i_i]; |
| 12955 | } |
| 12956 | } |
| 12957 | } |
| 12958 | |
| 12959 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12960 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12961 | localB->nx_n = localB->b_i_l + 6 * localB->idx; |
| 12962 | localB->P[localB->nx_n] = 0.0; |
| 12963 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 12964 | localB->P[localB->nx_n] += localB->H_m[6 * localB->i_i + |
| 12965 | localB->b_i_l] * localB->V[6 * localB->i_i + localB->idx]; |
| 12966 | } |
| 12967 | } |
| 12968 | } |
| 12969 | |
| 12970 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 12971 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 12972 | localB->sNew[localB->idx + 6 * localB->b_i_l] = localB-> |
| 12973 | sNew_m[localB->idx] * localB->sNew_m[localB->b_i_l] / |
| 12974 | localB->beta; |
| 12975 | } |
| 12976 | } |
| 12977 | |
| 12978 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12979 | localB->s_j = localB->P[localB->b_i_l] + localB->sNew |
| 12980 | [localB->b_i_l]; |
| 12981 | localB->H_m[localB->b_i_l] = 1.4901161193847656E-8 * |
| 12982 | static_cast<real_T>(tmp_1[localB->b_i_l]) + localB->s_j; |
| 12983 | localB->H[localB->b_i_l] = localB->s_j; |
| 12984 | } |
| 12985 | |
| 12986 | if (!cartesian_tr_isPositiveDefinite(localB->H_m, localB)) { |
| 12987 | *exitFlag = HessianNotPositiveSemidefinite; |
| 12988 | args = obj->ExtraArgs; |
| 12989 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 12990 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix |
| 12991 | [localB->b_i_l]; |
| 12992 | } |
| 12993 | |
| 12994 | localB->b_i_l = grad->size[0]; |
| 12995 | grad->size[0] = args->ErrTemp->size[0]; |
| 12996 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 12997 | localB->i_i = args->ErrTemp->size[0]; |
| 12998 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; |
| 12999 | localB->b_i_l++) { |
| 13000 | grad->data[localB->b_i_l] = args->ErrTemp->data[localB->b_i_l]; |
| 13001 | } |
| 13002 | |
| 13003 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 13004 | localB->x[localB->b_i_l] = 0.0; |
| 13005 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 13006 | localB->A_f = localB->unusedU0[6 * localB->idx + |
| 13007 | localB->b_i_l] * grad->data[localB->idx] + localB-> |
| 13008 | x[localB->b_i_l]; |
| 13009 | localB->x[localB->b_i_l] = localB->A_f; |
| 13010 | } |
| 13011 | } |
| 13012 | |
| 13013 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 13014 | *iter = static_cast<real_T>(localB->g_idx_0) + 1.0; |
| 13015 | exitg2 = 1; |
| 13016 | } else { |
| 13017 | guard1 = true; |
| 13018 | } |
| 13019 | } |
| 13020 | } |
| 13021 | |
| 13022 | if (guard1) { |
| 13023 | if (DampedBFGSwGradientProjection_k(obj, xSol, localB)) { |
| 13024 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 13025 | xSol[localB->i_i] = localB->x[localB->i_i]; |
| 13026 | } |
| 13027 | |
| 13028 | *exitFlag = SearchDirectionInvalid; |
| 13029 | args = obj->ExtraArgs; |
| 13030 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 13031 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix |
| 13032 | [localB->b_i_l]; |
| 13033 | } |
| 13034 | |
| 13035 | localB->b_i_l = grad->size[0]; |
| 13036 | grad->size[0] = args->ErrTemp->size[0]; |
| 13037 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 13038 | localB->i_i = args->ErrTemp->size[0]; |
| 13039 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 13040 | ++) { |
| 13041 | grad->data[localB->b_i_l] = args->ErrTemp->data[localB->b_i_l]; |
| 13042 | } |
| 13043 | |
| 13044 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 13045 | localB->x[localB->b_i_l] = 0.0; |
| 13046 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 13047 | localB->A_f = localB->unusedU0[6 * localB->idx + localB->b_i_l] |
| 13048 | * grad->data[localB->idx] + localB->x[localB->b_i_l]; |
| 13049 | localB->x[localB->b_i_l] = localB->A_f; |
| 13050 | } |
| 13051 | } |
| 13052 | |
| 13053 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 13054 | *iter = static_cast<real_T>(localB->g_idx_0) + 1.0; |
| 13055 | exitg2 = 1; |
| 13056 | } else { |
| 13057 | for (localB->i_i = 0; localB->i_i < 6; localB->i_i++) { |
| 13058 | localB->x[localB->i_i] = xSol[localB->i_i]; |
| 13059 | } |
| 13060 | |
| 13061 | localB->b_i_l = grad->size[0]; |
| 13062 | grad->size[0] = alpha->size[0]; |
| 13063 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 13064 | localB->i_i = alpha->size[0]; |
| 13065 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l |
| 13066 | ++) { |
| 13067 | grad->data[localB->b_i_l] = alpha->data[localB->b_i_l]; |
| 13068 | } |
| 13069 | |
| 13070 | localB->cost = localB->costNew; |
| 13071 | localB->g_idx_0++; |
| 13072 | } |
| 13073 | } |
| 13074 | } |
| 13075 | } |
| 13076 | } else { |
| 13077 | *exitFlag = IterationLimitExceeded; |
| 13078 | args = obj->ExtraArgs; |
| 13079 | for (localB->b_i_l = 0; localB->b_i_l < 36; localB->b_i_l++) { |
| 13080 | localB->unusedU0[localB->b_i_l] = args->WeightMatrix[localB->b_i_l]; |
| 13081 | } |
| 13082 | |
| 13083 | localB->b_i_l = grad->size[0]; |
| 13084 | grad->size[0] = args->ErrTemp->size[0]; |
| 13085 | cartes_emxEnsureCapacity_real_T(grad, localB->b_i_l, localB); |
| 13086 | localB->i_i = args->ErrTemp->size[0]; |
| 13087 | for (localB->b_i_l = 0; localB->b_i_l < localB->i_i; localB->b_i_l++) { |
| 13088 | grad->data[localB->b_i_l] = args->ErrTemp->data[localB->b_i_l]; |
| 13089 | } |
| 13090 | |
| 13091 | for (localB->b_i_l = 0; localB->b_i_l < 6; localB->b_i_l++) { |
| 13092 | localB->x[localB->b_i_l] = 0.0; |
| 13093 | for (localB->idx = 0; localB->idx < 6; localB->idx++) { |
| 13094 | localB->A_f = localB->unusedU0[6 * localB->idx + localB->b_i_l] * |
| 13095 | grad->data[localB->idx] + localB->x[localB->b_i_l]; |
| 13096 | localB->x[localB->b_i_l] = localB->A_f; |
| 13097 | } |
| 13098 | } |
| 13099 | |
| 13100 | *err = cartesian_trajectory_pla_norm_j(localB->x); |
| 13101 | *iter = obj->MaxNumIterationInternal; |
| 13102 | exitg2 = 1; |
| 13103 | } |
| 13104 | } while (exitg2 == 0); |
| 13105 | |
| 13106 | cartesian_traje_emxFree_int32_T(&ii_3); |
| 13107 | cartesian_trajec_emxFree_real_T(&alpha_0); |
| 13108 | cartesian_trajec_emxFree_real_T(&A_3); |
| 13109 | cartesian_trajec_emxFree_real_T(&grad_1); |
| 13110 | cartesian_traje_emxFree_int32_T(&ii_2); |
| 13111 | cartesian_traje_emxFree_int32_T(&ii_1); |
| 13112 | cartesian_trajec_emxFree_real_T(&sNew); |
| 13113 | cartesian_trajec_emxFree_real_T(&grad_0); |
| 13114 | cartesian_trajec_emxFree_real_T(&tmp_0); |
| 13115 | cartesian_trajec_emxFree_real_T(&tmp); |
| 13116 | cartesian_trajec_emxFree_real_T(&sigma); |
| 13117 | cartesian_trajec_emxFree_real_T(&A_2); |
| 13118 | cartesian_tra_emxFree_boolean_T(&x); |
| 13119 | cartesian_trajec_emxFree_real_T(&y_0); |
| 13120 | cartesian_traje_emxFree_int32_T(&ii_0); |
| 13121 | cartesian_trajec_emxFree_real_T(&y); |
| 13122 | cartesian_traje_emxFree_int32_T(&ii); |
| 13123 | cartesian_trajec_emxFree_real_T(&a); |
| 13124 | cartesian_traje_emxFree_int32_T(&gb); |
| 13125 | cartesian_traje_emxFree_int32_T(&fb); |
| 13126 | cartesian_traje_emxFree_int32_T(&eb); |
| 13127 | cartesian_traje_emxFree_int32_T(&db); |
| 13128 | cartesian_traje_emxFree_int32_T(&cb); |
| 13129 | cartesian_trajec_emxFree_real_T(&L); |
| 13130 | cartesian_trajec_emxFree_real_T(&AIn); |
| 13131 | cartesian_trajec_emxFree_real_T(&alpha); |
| 13132 | cartesian_trajec_emxFree_real_T(&A); |
| 13133 | cartesian_tra_emxFree_boolean_T(&activeSet); |
| 13134 | cartesian_trajec_emxFree_real_T(&grad); |
| 13135 | cartesian_trajec_emxFree_real_T(&unusedU1); |
| 13136 | } |
| 13137 | |
| 13138 | static void cartesian_trajectory_p_isfinite(const |
| 13139 | emxArray_real_T_cartesian_tra_T *x, emxArray_boolean_T_cartesian__T *b) |
| 13140 | { |
| 13141 | emxArray_boolean_T_cartesian__T *tmp; |
| 13142 | int32_T loop_ub; |
| 13143 | int32_T i; |
| 13144 | i = b->size[0]; |
| 13145 | b->size[0] = x->size[0]; |
| 13146 | car_emxEnsureCapacity_boolean_T(b, i); |
| 13147 | loop_ub = x->size[0]; |
| 13148 | for (i = 0; i < loop_ub; i++) { |
| 13149 | b->data[i] = rtIsInf(x->data[i]); |
| 13150 | } |
| 13151 | |
| 13152 | cartesian_tra_emxInit_boolean_T(&tmp, 1); |
| 13153 | i = tmp->size[0]; |
| 13154 | tmp->size[0] = x->size[0]; |
| 13155 | car_emxEnsureCapacity_boolean_T(tmp, i); |
| 13156 | loop_ub = x->size[0]; |
| 13157 | for (i = 0; i < loop_ub; i++) { |
| 13158 | tmp->data[i] = rtIsNaN(x->data[i]); |
| 13159 | } |
| 13160 | |
| 13161 | i = b->size[0]; |
| 13162 | car_emxEnsureCapacity_boolean_T(b, i); |
| 13163 | loop_ub = b->size[0]; |
| 13164 | for (i = 0; i < loop_ub; i++) { |
| 13165 | b->data[i] = ((!b->data[i]) && (!tmp->data[i])); |
| 13166 | } |
| 13167 | |
| 13168 | cartesian_tra_emxFree_boolean_T(&tmp); |
| 13169 | } |
| 13170 | |
| 13171 | static void cartesian_trajectory_pla_rand_m(real_T varargin_1, |
| 13172 | emxArray_real_T_cartesian_tra_T *r, B_MATLABSystem_cartesian_traj_T *localB, |
| 13173 | DW_MATLABSystem_cartesian_tra_T *localDW) |
| 13174 | { |
| 13175 | localB->b_k_f = r->size[0]; |
| 13176 | localB->d_p = static_cast<int32_T>(varargin_1); |
| 13177 | r->size[0] = localB->d_p; |
| 13178 | cartes_emxEnsureCapacity_real_T(r, localB->b_k_f, localB); |
| 13179 | localB->d_p--; |
| 13180 | for (localB->b_k_f = 0; localB->b_k_f <= localB->d_p; localB->b_k_f++) { |
| 13181 | memcpy(&localB->uv1[0], &localDW->state_e[0], 625U * sizeof(uint32_T)); |
| 13182 | cartesian__eml_rand_mt19937ar_a(localB->uv1, localDW->state_e, &r-> |
| 13183 | data[localB->b_k_f], localB); |
| 13184 | } |
| 13185 | } |
| 13186 | |
| 13187 | static real_T cartesian_trajectory_genrandu_n(uint32_T mt[625], |
| 13188 | B_MATLABSystem_cartesian_traj_T *localB) |
| 13189 | { |
| 13190 | real_T r; |
| 13191 | int32_T exitg1; |
| 13192 | |
| 13193 | // ========================= COPYRIGHT NOTICE ============================ |
| 13194 | // This is a uniform (0,1) pseudorandom number generator based on: |
| 13195 | // |
| 13196 | // A C-program for MT19937, with initialization improved 2002/1/26. |
| 13197 | // Coded by Takuji Nishimura and Makoto Matsumoto. |
| 13198 | // |
| 13199 | // Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, |
| 13200 | // All rights reserved. |
| 13201 | // |
| 13202 | // Redistribution and use in source and binary forms, with or without |
| 13203 | // modification, are permitted provided that the following conditions |
| 13204 | // are met: |
| 13205 | // |
| 13206 | // 1. Redistributions of source code must retain the above copyright |
| 13207 | // notice, this list of conditions and the following disclaimer. |
| 13208 | // |
| 13209 | // 2. Redistributions in binary form must reproduce the above copyright |
| 13210 | // notice, this list of conditions and the following disclaimer |
| 13211 | // in the documentation and/or other materials provided with the |
| 13212 | // distribution. |
| 13213 | // |
| 13214 | // 3. The names of its contributors may not be used to endorse or |
| 13215 | // promote products derived from this software without specific |
| 13216 | // prior written permission. |
| 13217 | // |
| 13218 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 13219 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 13220 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 13221 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 13222 | // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 13223 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 13224 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 13225 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 13226 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 13227 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 13228 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| 13229 | // |
| 13230 | // ============================= END ================================= |
| 13231 | do { |
| 13232 | exitg1 = 0; |
| 13233 | cartesi_genrand_uint32_vector_d(mt, localB->b_u_o, localB); |
| 13234 | r = (static_cast<real_T>(localB->b_u_o[0] >> 5U) * 6.7108864E+7 + |
| 13235 | static_cast<real_T>(localB->b_u_o[1] >> 6U)) * 1.1102230246251565E-16; |
| 13236 | if (r == 0.0) { |
| 13237 | if (!cartesian_trajec_is_valid_state(mt, localB)) { |
| 13238 | localB->r_k = 5489U; |
| 13239 | mt[0] = 5489U; |
| 13240 | for (localB->b_mti_i = 0; localB->b_mti_i < 623; localB->b_mti_i++) { |
| 13241 | localB->r_k = ((localB->r_k >> 30U ^ localB->r_k) * 1812433253U + |
| 13242 | localB->b_mti_i) + 1U; |
| 13243 | mt[localB->b_mti_i + 1] = localB->r_k; |
| 13244 | } |
| 13245 | |
| 13246 | mt[624] = 624U; |
| 13247 | } |
| 13248 | } else { |
| 13249 | exitg1 = 1; |
| 13250 | } |
| 13251 | } while (exitg1 == 0); |
| 13252 | |
| 13253 | return r; |
| 13254 | } |
| 13255 | |
| 13256 | static real_T cartesia_eml_rand_mt19937ar_aoi(uint32_T state[625], |
| 13257 | B_MATLABSystem_cartesian_traj_T *localB) |
| 13258 | { |
| 13259 | real_T r; |
| 13260 | static const real_T tmp[257] = { 1.0, 0.977101701267673, 0.959879091800108, |
| 13261 | 0.9451989534423, 0.932060075959231, 0.919991505039348, 0.908726440052131, |
| 13262 | 0.898095921898344, 0.887984660755834, 0.878309655808918, 0.869008688036857, |
| 13263 | 0.860033621196332, 0.851346258458678, 0.842915653112205, 0.834716292986884, |
| 13264 | 0.826726833946222, 0.818929191603703, 0.811307874312656, 0.803849483170964, |
| 13265 | 0.796542330422959, 0.789376143566025, 0.782341832654803, 0.775431304981187, |
| 13266 | 0.768637315798486, 0.761953346836795, 0.755373506507096, 0.748892447219157, |
| 13267 | 0.742505296340151, 0.736207598126863, 0.729995264561476, 0.72386453346863, |
| 13268 | 0.717811932630722, 0.711834248878248, 0.705928501332754, 0.700091918136512, |
| 13269 | 0.694321916126117, 0.688616083004672, 0.682972161644995, 0.677388036218774, |
| 13270 | 0.671861719897082, 0.66639134390875, 0.660975147776663, 0.655611470579697, |
| 13271 | 0.650298743110817, 0.645035480820822, 0.639820277453057, 0.634651799287624, |
| 13272 | 0.629528779924837, 0.624450015547027, 0.619414360605834, 0.614420723888914, |
| 13273 | 0.609468064925773, 0.604555390697468, 0.599681752619125, 0.594846243767987, |
| 13274 | 0.590047996332826, 0.585286179263371, 0.580559996100791, 0.575868682972354, |
| 13275 | 0.571211506735253, 0.566587763256165, 0.561996775814525, 0.557437893618766, |
| 13276 | 0.552910490425833, 0.548413963255266, 0.543947731190026, 0.539511234256952, |
| 13277 | 0.535103932380458, 0.530725304403662, 0.526374847171684, 0.522052074672322, |
| 13278 | 0.517756517229756, 0.513487720747327, 0.509245245995748, 0.505028667943468, |
| 13279 | 0.500837575126149, 0.49667156905249, 0.492530263643869, 0.488413284705458, |
| 13280 | 0.484320269426683, 0.480250865909047, 0.476204732719506, 0.47218153846773, |
| 13281 | 0.468180961405694, 0.464202689048174, 0.460246417812843, 0.456311852678716, |
| 13282 | 0.452398706861849, 0.448506701507203, 0.444635565395739, 0.440785034665804, |
| 13283 | 0.436954852547985, 0.433144769112652, 0.429354541029442, 0.425583931338022, |
| 13284 | 0.421832709229496, 0.418100649837848, 0.414387534040891, 0.410693148270188, |
| 13285 | 0.407017284329473, 0.403359739221114, 0.399720314980197, 0.396098818515832, |
| 13286 | 0.392495061459315, 0.388908860018789, 0.385340034840077, 0.381788410873393, |
| 13287 | 0.378253817245619, 0.374736087137891, 0.371235057668239, 0.367750569779032, |
| 13288 | 0.364282468129004, 0.360830600989648, 0.357394820145781, 0.353974980800077, |
| 13289 | 0.350570941481406, 0.347182563956794, 0.343809713146851, 0.340452257044522, |
| 13290 | 0.337110066637006, 0.333783015830718, 0.330470981379163, 0.327173842813601, |
| 13291 | 0.323891482376391, 0.320623784956905, 0.317370638029914, 0.314131931596337, |
| 13292 | 0.310907558126286, 0.307697412504292, 0.30450139197665, 0.301319396100803, |
| 13293 | 0.298151326696685, 0.294997087799962, 0.291856585617095, 0.288729728482183, |
| 13294 | 0.285616426815502, 0.282516593083708, 0.279430141761638, 0.276356989295668, |
| 13295 | 0.273297054068577, 0.270250256365875, 0.267216518343561, 0.264195763997261, |
| 13296 | 0.261187919132721, 0.258192911337619, 0.255210669954662, 0.252241126055942, |
| 13297 | 0.249284212418529, 0.246339863501264, 0.24340801542275, 0.240488605940501, |
| 13298 | 0.237581574431238, 0.23468686187233, 0.231804410824339, 0.228934165414681, |
| 13299 | 0.226076071322381, 0.223230075763918, 0.220396127480152, 0.217574176724331, |
| 13300 | 0.214764175251174, 0.211966076307031, 0.209179834621125, 0.206405406397881, |
| 13301 | 0.203642749310335, 0.200891822494657, 0.198152586545776, 0.195425003514135, |
| 13302 | 0.192709036903589, 0.190004651670465, 0.187311814223801, 0.1846304924268, |
| 13303 | 0.181960655599523, 0.179302274522848, 0.176655321443735, 0.174019770081839, |
| 13304 | 0.171395595637506, 0.168782774801212, 0.166181285764482, 0.163591108232366, |
| 13305 | 0.161012223437511, 0.158444614155925, 0.15588826472448, 0.153343161060263, |
| 13306 | 0.150809290681846, 0.148286642732575, 0.145775208005994, 0.143274978973514, |
| 13307 | 0.140785949814445, 0.138308116448551, 0.135841476571254, 0.133386029691669, |
| 13308 | 0.130941777173644, 0.12850872228, 0.126086870220186, 0.123676228201597, |
| 13309 | 0.12127680548479, 0.11888861344291, 0.116511665625611, 0.114145977827839, |
| 13310 | 0.111791568163838, 0.109448457146812, 0.107116667774684, 0.104796225622487, |
| 13311 | 0.102487158941935, 0.10018949876881, 0.0979032790388625, 0.095628536713009, |
| 13312 | 0.093365311912691, 0.0911136480663738, 0.0888735920682759, |
| 13313 | 0.0866451944505581, 0.0844285095703535, 0.082223595813203, |
| 13314 | 0.0800305158146631, 0.0778493367020961, 0.0756801303589272, |
| 13315 | 0.0735229737139814, 0.0713779490588905, 0.0692451443970068, |
| 13316 | 0.0671246538277886, 0.065016577971243, 0.0629210244377582, 0.06083810834954, |
| 13317 | 0.0587679529209339, 0.0567106901062031, 0.0546664613248891, |
| 13318 | 0.0526354182767924, 0.0506177238609479, 0.0486135532158687, |
| 13319 | 0.0466230949019305, 0.0446465522512946, 0.0426841449164746, |
| 13320 | 0.0407361106559411, 0.0388027074045262, 0.0368842156885674, |
| 13321 | 0.0349809414617162, 0.0330932194585786, 0.0312214171919203, |
| 13322 | 0.0293659397581334, 0.0275272356696031, 0.0257058040085489, |
| 13323 | 0.0239022033057959, 0.0221170627073089, 0.0203510962300445, |
| 13324 | 0.0186051212757247, 0.0168800831525432, 0.0151770883079353, |
| 13325 | 0.0134974506017399, 0.0118427578579079, 0.0102149714397015, |
| 13326 | 0.00861658276939875, 0.00705087547137324, 0.00552240329925101, |
| 13327 | 0.00403797259336304, 0.00260907274610216, 0.0012602859304986, |
| 13328 | 0.000477467764609386 }; |
| 13329 | |
| 13330 | const real_T *fitab; |
| 13331 | int32_T exitg1; |
| 13332 | localB->xi[0] = 0.0; |
| 13333 | localB->xi[1] = 0.215241895984875; |
| 13334 | localB->xi[2] = 0.286174591792068; |
| 13335 | localB->xi[3] = 0.335737519214422; |
| 13336 | localB->xi[4] = 0.375121332878378; |
| 13337 | localB->xi[5] = 0.408389134611989; |
| 13338 | localB->xi[6] = 0.43751840220787; |
| 13339 | localB->xi[7] = 0.46363433679088; |
| 13340 | localB->xi[8] = 0.487443966139235; |
| 13341 | localB->xi[9] = 0.50942332960209; |
| 13342 | localB->xi[10] = 0.529909720661557; |
| 13343 | localB->xi[11] = 0.549151702327164; |
| 13344 | localB->xi[12] = 0.567338257053817; |
| 13345 | localB->xi[13] = 0.584616766106378; |
| 13346 | localB->xi[14] = 0.601104617755991; |
| 13347 | localB->xi[15] = 0.61689699000775; |
| 13348 | localB->xi[16] = 0.63207223638606; |
| 13349 | localB->xi[17] = 0.646695714894993; |
| 13350 | localB->xi[18] = 0.660822574244419; |
| 13351 | localB->xi[19] = 0.674499822837293; |
| 13352 | localB->xi[20] = 0.687767892795788; |
| 13353 | localB->xi[21] = 0.700661841106814; |
| 13354 | localB->xi[22] = 0.713212285190975; |
| 13355 | localB->xi[23] = 0.725446140909999; |
| 13356 | localB->xi[24] = 0.737387211434295; |
| 13357 | localB->xi[25] = 0.749056662017815; |
| 13358 | localB->xi[26] = 0.760473406430107; |
| 13359 | localB->xi[27] = 0.771654424224568; |
| 13360 | localB->xi[28] = 0.782615023307232; |
| 13361 | localB->xi[29] = 0.793369058840623; |
| 13362 | localB->xi[30] = 0.80392911698997; |
| 13363 | localB->xi[31] = 0.814306670135215; |
| 13364 | localB->xi[32] = 0.824512208752291; |
| 13365 | localB->xi[33] = 0.834555354086381; |
| 13366 | localB->xi[34] = 0.844444954909153; |
| 13367 | localB->xi[35] = 0.854189171008163; |
| 13368 | localB->xi[36] = 0.863795545553308; |
| 13369 | localB->xi[37] = 0.87327106808886; |
| 13370 | localB->xi[38] = 0.882622229585165; |
| 13371 | localB->xi[39] = 0.891855070732941; |
| 13372 | localB->xi[40] = 0.900975224461221; |
| 13373 | localB->xi[41] = 0.909987953496718; |
| 13374 | localB->xi[42] = 0.91889818364959; |
| 13375 | localB->xi[43] = 0.927710533401999; |
| 13376 | localB->xi[44] = 0.936429340286575; |
| 13377 | localB->xi[45] = 0.945058684468165; |
| 13378 | localB->xi[46] = 0.953602409881086; |
| 13379 | localB->xi[47] = 0.96206414322304; |
| 13380 | localB->xi[48] = 0.970447311064224; |
| 13381 | localB->xi[49] = 0.978755155294224; |
| 13382 | localB->xi[50] = 0.986990747099062; |
| 13383 | localB->xi[51] = 0.99515699963509; |
| 13384 | localB->xi[52] = 1.00325667954467; |
| 13385 | localB->xi[53] = 1.01129241744; |
| 13386 | localB->xi[54] = 1.01926671746548; |
| 13387 | localB->xi[55] = 1.02718196603564; |
| 13388 | localB->xi[56] = 1.03504043983344; |
| 13389 | localB->xi[57] = 1.04284431314415; |
| 13390 | localB->xi[58] = 1.05059566459093; |
| 13391 | localB->xi[59] = 1.05829648333067; |
| 13392 | localB->xi[60] = 1.06594867476212; |
| 13393 | localB->xi[61] = 1.07355406579244; |
| 13394 | localB->xi[62] = 1.0811144097034; |
| 13395 | localB->xi[63] = 1.08863139065398; |
| 13396 | localB->xi[64] = 1.09610662785202; |
| 13397 | localB->xi[65] = 1.10354167942464; |
| 13398 | localB->xi[66] = 1.11093804601357; |
| 13399 | localB->xi[67] = 1.11829717411934; |
| 13400 | localB->xi[68] = 1.12562045921553; |
| 13401 | localB->xi[69] = 1.13290924865253; |
| 13402 | localB->xi[70] = 1.14016484436815; |
| 13403 | localB->xi[71] = 1.14738850542085; |
| 13404 | localB->xi[72] = 1.15458145035993; |
| 13405 | localB->xi[73] = 1.16174485944561; |
| 13406 | localB->xi[74] = 1.16887987673083; |
| 13407 | localB->xi[75] = 1.17598761201545; |
| 13408 | localB->xi[76] = 1.18306914268269; |
| 13409 | localB->xi[77] = 1.19012551542669; |
| 13410 | localB->xi[78] = 1.19715774787944; |
| 13411 | localB->xi[79] = 1.20416683014438; |
| 13412 | localB->xi[80] = 1.2111537262437; |
| 13413 | localB->xi[81] = 1.21811937548548; |
| 13414 | localB->xi[82] = 1.22506469375653; |
| 13415 | localB->xi[83] = 1.23199057474614; |
| 13416 | localB->xi[84] = 1.23889789110569; |
| 13417 | localB->xi[85] = 1.24578749554863; |
| 13418 | localB->xi[86] = 1.2526602218949; |
| 13419 | localB->xi[87] = 1.25951688606371; |
| 13420 | localB->xi[88] = 1.26635828701823; |
| 13421 | localB->xi[89] = 1.27318520766536; |
| 13422 | localB->xi[90] = 1.27999841571382; |
| 13423 | localB->xi[91] = 1.28679866449324; |
| 13424 | localB->xi[92] = 1.29358669373695; |
| 13425 | localB->xi[93] = 1.30036323033084; |
| 13426 | localB->xi[94] = 1.30712898903073; |
| 13427 | localB->xi[95] = 1.31388467315022; |
| 13428 | localB->xi[96] = 1.32063097522106; |
| 13429 | localB->xi[97] = 1.32736857762793; |
| 13430 | localB->xi[98] = 1.33409815321936; |
| 13431 | localB->xi[99] = 1.3408203658964; |
| 13432 | localB->xi[100] = 1.34753587118059; |
| 13433 | localB->xi[101] = 1.35424531676263; |
| 13434 | localB->xi[102] = 1.36094934303328; |
| 13435 | localB->xi[103] = 1.36764858359748; |
| 13436 | localB->xi[104] = 1.37434366577317; |
| 13437 | localB->xi[105] = 1.38103521107586; |
| 13438 | localB->xi[106] = 1.38772383568998; |
| 13439 | localB->xi[107] = 1.39441015092814; |
| 13440 | localB->xi[108] = 1.40109476367925; |
| 13441 | localB->xi[109] = 1.4077782768464; |
| 13442 | localB->xi[110] = 1.41446128977547; |
| 13443 | localB->xi[111] = 1.42114439867531; |
| 13444 | localB->xi[112] = 1.42782819703026; |
| 13445 | localB->xi[113] = 1.43451327600589; |
| 13446 | localB->xi[114] = 1.44120022484872; |
| 13447 | localB->xi[115] = 1.44788963128058; |
| 13448 | localB->xi[116] = 1.45458208188841; |
| 13449 | localB->xi[117] = 1.46127816251028; |
| 13450 | localB->xi[118] = 1.46797845861808; |
| 13451 | localB->xi[119] = 1.47468355569786; |
| 13452 | localB->xi[120] = 1.48139403962819; |
| 13453 | localB->xi[121] = 1.48811049705745; |
| 13454 | localB->xi[122] = 1.49483351578049; |
| 13455 | localB->xi[123] = 1.50156368511546; |
| 13456 | localB->xi[124] = 1.50830159628131; |
| 13457 | localB->xi[125] = 1.51504784277671; |
| 13458 | localB->xi[126] = 1.521803020761; |
| 13459 | localB->xi[127] = 1.52856772943771; |
| 13460 | localB->xi[128] = 1.53534257144151; |
| 13461 | localB->xi[129] = 1.542128153229; |
| 13462 | localB->xi[130] = 1.54892508547417; |
| 13463 | localB->xi[131] = 1.55573398346918; |
| 13464 | localB->xi[132] = 1.56255546753104; |
| 13465 | localB->xi[133] = 1.56939016341512; |
| 13466 | localB->xi[134] = 1.57623870273591; |
| 13467 | localB->xi[135] = 1.58310172339603; |
| 13468 | localB->xi[136] = 1.58997987002419; |
| 13469 | localB->xi[137] = 1.59687379442279; |
| 13470 | localB->xi[138] = 1.60378415602609; |
| 13471 | localB->xi[139] = 1.61071162236983; |
| 13472 | localB->xi[140] = 1.61765686957301; |
| 13473 | localB->xi[141] = 1.62462058283303; |
| 13474 | localB->xi[142] = 1.63160345693487; |
| 13475 | localB->xi[143] = 1.63860619677555; |
| 13476 | localB->xi[144] = 1.64562951790478; |
| 13477 | localB->xi[145] = 1.65267414708306; |
| 13478 | localB->xi[146] = 1.65974082285818; |
| 13479 | localB->xi[147] = 1.66683029616166; |
| 13480 | localB->xi[148] = 1.67394333092612; |
| 13481 | localB->xi[149] = 1.68108070472517; |
| 13482 | localB->xi[150] = 1.68824320943719; |
| 13483 | localB->xi[151] = 1.69543165193456; |
| 13484 | localB->xi[152] = 1.70264685479992; |
| 13485 | localB->xi[153] = 1.7098896570713; |
| 13486 | localB->xi[154] = 1.71716091501782; |
| 13487 | localB->xi[155] = 1.72446150294804; |
| 13488 | localB->xi[156] = 1.73179231405296; |
| 13489 | localB->xi[157] = 1.73915426128591; |
| 13490 | localB->xi[158] = 1.74654827828172; |
| 13491 | localB->xi[159] = 1.75397532031767; |
| 13492 | localB->xi[160] = 1.76143636531891; |
| 13493 | localB->xi[161] = 1.76893241491127; |
| 13494 | localB->xi[162] = 1.77646449552452; |
| 13495 | localB->xi[163] = 1.78403365954944; |
| 13496 | localB->xi[164] = 1.79164098655216; |
| 13497 | localB->xi[165] = 1.79928758454972; |
| 13498 | localB->xi[166] = 1.80697459135082; |
| 13499 | localB->xi[167] = 1.81470317596628; |
| 13500 | localB->xi[168] = 1.82247454009388; |
| 13501 | localB->xi[169] = 1.83028991968276; |
| 13502 | localB->xi[170] = 1.83815058658281; |
| 13503 | localB->xi[171] = 1.84605785028518; |
| 13504 | localB->xi[172] = 1.8540130597602; |
| 13505 | localB->xi[173] = 1.86201760539967; |
| 13506 | localB->xi[174] = 1.87007292107127; |
| 13507 | localB->xi[175] = 1.878180486293; |
| 13508 | localB->xi[176] = 1.88634182853678; |
| 13509 | localB->xi[177] = 1.8945585256707; |
| 13510 | localB->xi[178] = 1.90283220855043; |
| 13511 | localB->xi[179] = 1.91116456377125; |
| 13512 | localB->xi[180] = 1.91955733659319; |
| 13513 | localB->xi[181] = 1.92801233405266; |
| 13514 | localB->xi[182] = 1.93653142827569; |
| 13515 | localB->xi[183] = 1.94511656000868; |
| 13516 | localB->xi[184] = 1.95376974238465; |
| 13517 | localB->xi[185] = 1.96249306494436; |
| 13518 | localB->xi[186] = 1.97128869793366; |
| 13519 | localB->xi[187] = 1.98015889690048; |
| 13520 | localB->xi[188] = 1.98910600761744; |
| 13521 | localB->xi[189] = 1.99813247135842; |
| 13522 | localB->xi[190] = 2.00724083056053; |
| 13523 | localB->xi[191] = 2.0164337349062; |
| 13524 | localB->xi[192] = 2.02571394786385; |
| 13525 | localB->xi[193] = 2.03508435372962; |
| 13526 | localB->xi[194] = 2.04454796521753; |
| 13527 | localB->xi[195] = 2.05410793165065; |
| 13528 | localB->xi[196] = 2.06376754781173; |
| 13529 | localB->xi[197] = 2.07353026351874; |
| 13530 | localB->xi[198] = 2.0833996939983; |
| 13531 | localB->xi[199] = 2.09337963113879; |
| 13532 | localB->xi[200] = 2.10347405571488; |
| 13533 | localB->xi[201] = 2.11368715068665; |
| 13534 | localB->xi[202] = 2.12402331568952; |
| 13535 | localB->xi[203] = 2.13448718284602; |
| 13536 | localB->xi[204] = 2.14508363404789; |
| 13537 | localB->xi[205] = 2.15581781987674; |
| 13538 | localB->xi[206] = 2.16669518035431; |
| 13539 | localB->xi[207] = 2.17772146774029; |
| 13540 | localB->xi[208] = 2.18890277162636; |
| 13541 | localB->xi[209] = 2.20024554661128; |
| 13542 | localB->xi[210] = 2.21175664288416; |
| 13543 | localB->xi[211] = 2.22344334009251; |
| 13544 | localB->xi[212] = 2.23531338492992; |
| 13545 | localB->xi[213] = 2.24737503294739; |
| 13546 | localB->xi[214] = 2.25963709517379; |
| 13547 | localB->xi[215] = 2.27210899022838; |
| 13548 | localB->xi[216] = 2.28480080272449; |
| 13549 | localB->xi[217] = 2.29772334890286; |
| 13550 | localB->xi[218] = 2.31088825060137; |
| 13551 | localB->xi[219] = 2.32430801887113; |
| 13552 | localB->xi[220] = 2.33799614879653; |
| 13553 | localB->xi[221] = 2.35196722737914; |
| 13554 | localB->xi[222] = 2.36623705671729; |
| 13555 | localB->xi[223] = 2.38082279517208; |
| 13556 | localB->xi[224] = 2.39574311978193; |
| 13557 | localB->xi[225] = 2.41101841390112; |
| 13558 | localB->xi[226] = 2.42667098493715; |
| 13559 | localB->xi[227] = 2.44272531820036; |
| 13560 | localB->xi[228] = 2.4592083743347; |
| 13561 | localB->xi[229] = 2.47614993967052; |
| 13562 | localB->xi[230] = 2.49358304127105; |
| 13563 | localB->xi[231] = 2.51154444162669; |
| 13564 | localB->xi[232] = 2.53007523215985; |
| 13565 | localB->xi[233] = 2.54922155032478; |
| 13566 | localB->xi[234] = 2.56903545268184; |
| 13567 | localB->xi[235] = 2.58957598670829; |
| 13568 | localB->xi[236] = 2.61091051848882; |
| 13569 | localB->xi[237] = 2.63311639363158; |
| 13570 | localB->xi[238] = 2.65628303757674; |
| 13571 | localB->xi[239] = 2.68051464328574; |
| 13572 | localB->xi[240] = 2.70593365612306; |
| 13573 | localB->xi[241] = 2.73268535904401; |
| 13574 | localB->xi[242] = 2.76094400527999; |
| 13575 | localB->xi[243] = 2.79092117400193; |
| 13576 | localB->xi[244] = 2.82287739682644; |
| 13577 | localB->xi[245] = 2.85713873087322; |
| 13578 | localB->xi[246] = 2.89412105361341; |
| 13579 | localB->xi[247] = 2.93436686720889; |
| 13580 | localB->xi[248] = 2.97860327988184; |
| 13581 | localB->xi[249] = 3.02783779176959; |
| 13582 | localB->xi[250] = 3.08352613200214; |
| 13583 | localB->xi[251] = 3.147889289518; |
| 13584 | localB->xi[252] = 3.2245750520478; |
| 13585 | localB->xi[253] = 3.32024473383983; |
| 13586 | localB->xi[254] = 3.44927829856143; |
| 13587 | localB->xi[255] = 3.65415288536101; |
| 13588 | localB->xi[256] = 3.91075795952492; |
| 13589 | fitab = &tmp[0]; |
| 13590 | do { |
| 13591 | exitg1 = 0; |
| 13592 | cartesi_genrand_uint32_vector_d(state, localB->u32, localB); |
| 13593 | localB->i_fn = static_cast<int32_T>((localB->u32[1] >> 24U) + 1U); |
| 13594 | r = ((static_cast<real_T>(localB->u32[0] >> 3U) * 1.6777216E+7 + |
| 13595 | static_cast<real_T>(static_cast<int32_T>(localB->u32[1]) & 16777215)) * |
| 13596 | 2.2204460492503131E-16 - 1.0) * localB->xi[localB->i_fn]; |
| 13597 | if (fabs(r) <= localB->xi[localB->i_fn - 1]) { |
| 13598 | exitg1 = 1; |
| 13599 | } else if (localB->i_fn < 256) { |
| 13600 | localB->x_j = cartesian_trajectory_genrandu_n(state, localB); |
| 13601 | if ((fitab[localB->i_fn - 1] - fitab[localB->i_fn]) * localB->x_j + |
| 13602 | fitab[localB->i_fn] < exp(-0.5 * r * r)) { |
| 13603 | exitg1 = 1; |
| 13604 | } |
| 13605 | } else { |
| 13606 | do { |
| 13607 | localB->x_j = cartesian_trajectory_genrandu_n(state, localB); |
| 13608 | localB->x_j = log(localB->x_j) * 0.273661237329758; |
| 13609 | localB->d_u = cartesian_trajectory_genrandu_n(state, localB); |
| 13610 | } while (!(-2.0 * log(localB->d_u) > localB->x_j * localB->x_j)); |
| 13611 | |
| 13612 | if (r < 0.0) { |
| 13613 | r = localB->x_j - 3.65415288536101; |
| 13614 | } else { |
| 13615 | r = 3.65415288536101 - localB->x_j; |
| 13616 | } |
| 13617 | |
| 13618 | exitg1 = 1; |
| 13619 | } |
| 13620 | } while (exitg1 == 0); |
| 13621 | |
| 13622 | return r; |
| 13623 | } |
| 13624 | |
| 13625 | static void cartesian_trajectory_plan_randn(const real_T varargin_1[2], |
| 13626 | emxArray_real_T_cartesian_tra_T *r, B_MATLABSystem_cartesian_traj_T *localB, |
| 13627 | DW_MATLABSystem_cartesian_tra_T *localDW) |
| 13628 | { |
| 13629 | localB->b_k_hp = r->size[0] * r->size[1]; |
| 13630 | r->size[0] = static_cast<int32_T>(varargin_1[0]); |
| 13631 | r->size[1] = 1; |
| 13632 | cartes_emxEnsureCapacity_real_T(r, localB->b_k_hp, localB); |
| 13633 | localB->d_h = r->size[0] - 1; |
| 13634 | for (localB->b_k_hp = 0; localB->b_k_hp <= localB->d_h; localB->b_k_hp++) { |
| 13635 | r->data[localB->b_k_hp] = cartesia_eml_rand_mt19937ar_aoi(localDW->state_e, |
| 13636 | localB); |
| 13637 | } |
| 13638 | } |
| 13639 | |
| 13640 | static void cartes_NLPSolverInterface_solve(h_robotics_core_internal_Damp_T *obj, |
| 13641 | const real_T seed[6], real_T xSol[6], real_T *solutionInfo_Iterations, real_T * |
| 13642 | solutionInfo_RRAttempts, real_T *solutionInfo_Error, real_T |
| 13643 | *solutionInfo_ExitFlag, char_T solutionInfo_Status_data[], int32_T |
| 13644 | solutionInfo_Status_size[2], B_MATLABSystem_cartesian_traj_T *localB, |
| 13645 | DW_MATLABSystem_cartesian_tra_T *localDW) |
| 13646 | { |
| 13647 | emxArray_real_T_cartesian_tra_T *newseed; |
| 13648 | f_robotics_manip_internal_IKE_T *args; |
| 13649 | x_robotics_manip_internal_Rig_T *obj_0; |
| 13650 | emxArray_real_T_cartesian_tra_T *qi; |
| 13651 | c_rigidBodyJoint_cartesian_tr_T *obj_1; |
| 13652 | emxArray_real_T_cartesian_tra_T *ub; |
| 13653 | emxArray_real_T_cartesian_tra_T *lb; |
| 13654 | emxArray_real_T_cartesian_tra_T *rn; |
| 13655 | emxArray_real_T_cartesian_tra_T *e; |
| 13656 | emxArray_boolean_T_cartesian__T *x; |
| 13657 | emxArray_boolean_T_cartesian__T *x_tmp; |
| 13658 | emxArray_boolean_T_cartesian__T *x_tmp_0; |
| 13659 | emxArray_boolean_T_cartesian__T *x_0; |
| 13660 | static const char_T tmp[14] = { 'b', 'e', 's', 't', ' ', 'a', 'v', 'a', 'i', |
| 13661 | 'l', 'a', 'b', 'l', 'e' }; |
| 13662 | |
| 13663 | static const char_T tmp_0[7] = { 's', 'u', 'c', 'c', 'e', 's', 's' }; |
| 13664 | |
| 13665 | boolean_T guard1 = false; |
| 13666 | boolean_T guard2 = false; |
| 13667 | boolean_T guard3 = false; |
| 13668 | boolean_T exitg1; |
| 13669 | boolean_T exitg2; |
| 13670 | obj->MaxNumIterationInternal = obj->MaxNumIteration; |
| 13671 | obj->MaxTimeInternal = obj->MaxTime; |
| 13672 | for (localB->i_fq = 0; localB->i_fq < 6; localB->i_fq++) { |
| 13673 | obj->SeedInternal[localB->i_fq] = seed[localB->i_fq]; |
| 13674 | } |
| 13675 | |
| 13676 | localB->tol = obj->SolutionTolerance; |
| 13677 | obj->TimeObj.StartTime = ctimefun(); |
| 13678 | DampedBFGSwGradientProjection_s(obj, xSol, &localB->exitFlag, &localB->err, |
| 13679 | &localB->iter, localB); |
| 13680 | *solutionInfo_RRAttempts = 0.0; |
| 13681 | *solutionInfo_Iterations = localB->iter; |
| 13682 | *solutionInfo_Error = localB->err; |
| 13683 | localB->exitFlagPrev = localB->exitFlag; |
| 13684 | cartesian_trajec_emxInit_real_T(&newseed, 1, localB); |
| 13685 | cartesian_trajec_emxInit_real_T(&qi, 2, localB); |
| 13686 | cartesian_trajec_emxInit_real_T(&ub, 1, localB); |
| 13687 | cartesian_trajec_emxInit_real_T(&lb, 1, localB); |
| 13688 | cartesian_trajec_emxInit_real_T(&rn, 1, localB); |
| 13689 | cartesian_trajec_emxInit_real_T(&e, 2, localB); |
| 13690 | cartesian_tra_emxInit_boolean_T(&x, 1); |
| 13691 | cartesian_tra_emxInit_boolean_T(&x_tmp, 1); |
| 13692 | cartesian_tra_emxInit_boolean_T(&x_tmp_0, 1); |
| 13693 | cartesian_tra_emxInit_boolean_T(&x_0, 1); |
| 13694 | exitg1 = false; |
| 13695 | while ((!exitg1) && (obj->RandomRestart && (localB->err > localB->tol))) { |
| 13696 | obj->MaxNumIterationInternal -= localB->iter; |
| 13697 | localB->err = ctimefun(); |
| 13698 | localB->err -= obj->TimeObj.StartTime; |
| 13699 | obj->MaxTimeInternal = obj->MaxTime - localB->err; |
| 13700 | if (obj->MaxNumIterationInternal <= 0.0) { |
| 13701 | localB->exitFlag = IterationLimitExceeded; |
| 13702 | } |
| 13703 | |
| 13704 | if ((localB->exitFlag == IterationLimitExceeded) || (localB->exitFlag == |
| 13705 | TimeLimitExceeded)) { |
| 13706 | localB->exitFlagPrev = localB->exitFlag; |
| 13707 | exitg1 = true; |
| 13708 | } else { |
| 13709 | args = obj->ExtraArgs; |
| 13710 | obj_0 = args->Robot; |
| 13711 | localB->ix = newseed->size[0]; |
| 13712 | newseed->size[0] = static_cast<int32_T>(obj_0->PositionNumber); |
| 13713 | cartes_emxEnsureCapacity_real_T(newseed, localB->ix, localB); |
| 13714 | localB->nx = static_cast<int32_T>(obj_0->PositionNumber); |
| 13715 | for (localB->ix = 0; localB->ix < localB->nx; localB->ix++) { |
| 13716 | newseed->data[localB->ix] = 0.0; |
| 13717 | } |
| 13718 | |
| 13719 | localB->err = obj_0->NumBodies; |
| 13720 | localB->c_c = static_cast<int32_T>(localB->err) - 1; |
| 13721 | for (localB->i_fq = 0; localB->i_fq <= localB->c_c; localB->i_fq++) { |
| 13722 | localB->err = obj_0->PositionDoFMap[localB->i_fq]; |
| 13723 | localB->iter = obj_0->PositionDoFMap[localB->i_fq + 8]; |
| 13724 | if (localB->err <= localB->iter) { |
| 13725 | obj_1 = obj_0->Bodies[localB->i_fq]->JointInternal; |
| 13726 | if (static_cast<int32_T>(obj_1->PositionNumber) == 0) { |
| 13727 | localB->ix = qi->size[0] * qi->size[1]; |
| 13728 | qi->size[0] = 1; |
| 13729 | qi->size[1] = 1; |
| 13730 | cartes_emxEnsureCapacity_real_T(qi, localB->ix, localB); |
| 13731 | qi->data[0] = (rtNaN); |
| 13732 | } else { |
| 13733 | localB->nx = obj_1->PositionLimitsInternal->size[0]; |
| 13734 | localB->ix = ub->size[0]; |
| 13735 | ub->size[0] = localB->nx; |
| 13736 | cartes_emxEnsureCapacity_real_T(ub, localB->ix, localB); |
| 13737 | for (localB->ix = 0; localB->ix < localB->nx; localB->ix++) { |
| 13738 | ub->data[localB->ix] = obj_1->PositionLimitsInternal->data |
| 13739 | [localB->ix + obj_1->PositionLimitsInternal->size[0]]; |
| 13740 | } |
| 13741 | |
| 13742 | localB->nx = obj_1->PositionLimitsInternal->size[0]; |
| 13743 | localB->ix = lb->size[0]; |
| 13744 | lb->size[0] = localB->nx; |
| 13745 | cartes_emxEnsureCapacity_real_T(lb, localB->ix, localB); |
| 13746 | for (localB->ix = 0; localB->ix < localB->nx; localB->ix++) { |
| 13747 | lb->data[localB->ix] = obj_1->PositionLimitsInternal->data |
| 13748 | [localB->ix]; |
| 13749 | } |
| 13750 | |
| 13751 | cartesian_trajectory_p_isfinite(lb, x_tmp); |
| 13752 | localB->y_pd = true; |
| 13753 | localB->ix = 0; |
| 13754 | exitg2 = false; |
| 13755 | while ((!exitg2) && (localB->ix + 1 <= x_tmp->size[0])) { |
| 13756 | if (!x_tmp->data[localB->ix]) { |
| 13757 | localB->y_pd = false; |
| 13758 | exitg2 = true; |
| 13759 | } else { |
| 13760 | localB->ix++; |
| 13761 | } |
| 13762 | } |
| 13763 | |
| 13764 | guard1 = false; |
| 13765 | guard2 = false; |
| 13766 | guard3 = false; |
| 13767 | if (localB->y_pd) { |
| 13768 | cartesian_trajectory_p_isfinite(ub, x); |
| 13769 | localB->y_pd = true; |
| 13770 | localB->ix = 0; |
| 13771 | exitg2 = false; |
| 13772 | while ((!exitg2) && (localB->ix + 1 <= x->size[0])) { |
| 13773 | if (!x->data[localB->ix]) { |
| 13774 | localB->y_pd = false; |
| 13775 | exitg2 = true; |
| 13776 | } else { |
| 13777 | localB->ix++; |
| 13778 | } |
| 13779 | } |
| 13780 | |
| 13781 | if (localB->y_pd) { |
| 13782 | cartesian_trajectory_pla_rand_m(obj_1->PositionNumber, rn, |
| 13783 | localB, localDW); |
| 13784 | localB->ix = qi->size[0] * qi->size[1]; |
| 13785 | qi->size[0] = lb->size[0]; |
| 13786 | qi->size[1] = 1; |
| 13787 | cartes_emxEnsureCapacity_real_T(qi, localB->ix, localB); |
| 13788 | localB->nx = lb->size[0] - 1; |
| 13789 | for (localB->ix = 0; localB->ix <= localB->nx; localB->ix++) { |
| 13790 | qi->data[localB->ix] = (ub->data[localB->ix] - lb->data |
| 13791 | [localB->ix]) * rn->data[localB->ix] + lb->data[localB->ix]; |
| 13792 | } |
| 13793 | } else { |
| 13794 | guard3 = true; |
| 13795 | } |
| 13796 | } else { |
| 13797 | guard3 = true; |
| 13798 | } |
| 13799 | |
| 13800 | if (guard3) { |
| 13801 | localB->y_pd = true; |
| 13802 | localB->ix = 0; |
| 13803 | exitg2 = false; |
| 13804 | while ((!exitg2) && (localB->ix + 1 <= x_tmp->size[0])) { |
| 13805 | if (!x_tmp->data[localB->ix]) { |
| 13806 | localB->y_pd = false; |
| 13807 | exitg2 = true; |
| 13808 | } else { |
| 13809 | localB->ix++; |
| 13810 | } |
| 13811 | } |
| 13812 | |
| 13813 | if (localB->y_pd) { |
| 13814 | cartesian_trajectory_p_isfinite(ub, x); |
| 13815 | localB->ix = x_0->size[0]; |
| 13816 | x_0->size[0] = x->size[0]; |
| 13817 | car_emxEnsureCapacity_boolean_T(x_0, localB->ix); |
| 13818 | localB->nx = x->size[0]; |
| 13819 | for (localB->ix = 0; localB->ix < localB->nx; localB->ix++) { |
| 13820 | x_0->data[localB->ix] = !x->data[localB->ix]; |
| 13821 | } |
| 13822 | |
| 13823 | if (cartesian_trajectory_planne_any(x_0)) { |
| 13824 | localB->ub[0] = lb->size[0]; |
| 13825 | localB->ub[1] = 1.0; |
| 13826 | cartesian_trajectory_plan_randn(localB->ub, qi, localB, |
| 13827 | localDW); |
| 13828 | localB->nx = qi->size[0] - 1; |
| 13829 | localB->ix = e->size[0] * e->size[1]; |
| 13830 | e->size[0] = qi->size[0]; |
| 13831 | e->size[1] = 1; |
| 13832 | cartes_emxEnsureCapacity_real_T(e, localB->ix, localB); |
| 13833 | for (localB->ix = 0; localB->ix <= localB->nx; localB->ix++) { |
| 13834 | e->data[localB->ix] = fabs(qi->data[localB->ix]); |
| 13835 | } |
| 13836 | |
| 13837 | localB->ix = qi->size[0] * qi->size[1]; |
| 13838 | qi->size[0] = lb->size[0]; |
| 13839 | qi->size[1] = 1; |
| 13840 | cartes_emxEnsureCapacity_real_T(qi, localB->ix, localB); |
| 13841 | localB->nx = lb->size[0] - 1; |
| 13842 | for (localB->ix = 0; localB->ix <= localB->nx; localB->ix++) { |
| 13843 | qi->data[localB->ix] = lb->data[localB->ix] + e->data |
| 13844 | [localB->ix]; |
| 13845 | } |
| 13846 | } else { |
| 13847 | guard2 = true; |
| 13848 | } |
| 13849 | } else { |
| 13850 | guard2 = true; |
| 13851 | } |
| 13852 | } |
| 13853 | |
| 13854 | if (guard2) { |
| 13855 | localB->ix = x_tmp_0->size[0]; |
| 13856 | x_tmp_0->size[0] = x_tmp->size[0]; |
| 13857 | car_emxEnsureCapacity_boolean_T(x_tmp_0, localB->ix); |
| 13858 | localB->nx = x_tmp->size[0]; |
| 13859 | for (localB->ix = 0; localB->ix < localB->nx; localB->ix++) { |
| 13860 | x_tmp_0->data[localB->ix] = !x_tmp->data[localB->ix]; |
| 13861 | } |
| 13862 | |
| 13863 | if (cartesian_trajectory_planne_any(x_tmp_0)) { |
| 13864 | cartesian_trajectory_p_isfinite(ub, x); |
| 13865 | localB->y_pd = true; |
| 13866 | localB->ix = 0; |
| 13867 | exitg2 = false; |
| 13868 | while ((!exitg2) && (localB->ix + 1 <= x->size[0])) { |
| 13869 | if (!x->data[localB->ix]) { |
| 13870 | localB->y_pd = false; |
| 13871 | exitg2 = true; |
| 13872 | } else { |
| 13873 | localB->ix++; |
| 13874 | } |
| 13875 | } |
| 13876 | |
| 13877 | if (localB->y_pd) { |
| 13878 | localB->ub[0] = ub->size[0]; |
| 13879 | localB->ub[1] = 1.0; |
| 13880 | cartesian_trajectory_plan_randn(localB->ub, qi, localB, |
| 13881 | localDW); |
| 13882 | localB->nx = qi->size[0] - 1; |
| 13883 | localB->ix = e->size[0] * e->size[1]; |
| 13884 | e->size[0] = qi->size[0]; |
| 13885 | e->size[1] = 1; |
| 13886 | cartes_emxEnsureCapacity_real_T(e, localB->ix, localB); |
| 13887 | for (localB->ix = 0; localB->ix <= localB->nx; localB->ix++) { |
| 13888 | e->data[localB->ix] = fabs(qi->data[localB->ix]); |
| 13889 | } |
| 13890 | |
| 13891 | localB->ix = qi->size[0] * qi->size[1]; |
| 13892 | qi->size[0] = ub->size[0]; |
| 13893 | qi->size[1] = 1; |
| 13894 | cartes_emxEnsureCapacity_real_T(qi, localB->ix, localB); |
| 13895 | localB->nx = ub->size[0] - 1; |
| 13896 | for (localB->ix = 0; localB->ix <= localB->nx; localB->ix++) { |
| 13897 | qi->data[localB->ix] = ub->data[localB->ix] - e->data |
| 13898 | [localB->ix]; |
| 13899 | } |
| 13900 | } else { |
| 13901 | guard1 = true; |
| 13902 | } |
| 13903 | } else { |
| 13904 | guard1 = true; |
| 13905 | } |
| 13906 | } |
| 13907 | |
| 13908 | if (guard1) { |
| 13909 | localB->ub[0] = ub->size[0]; |
| 13910 | localB->ub[1] = 1.0; |
| 13911 | cartesian_trajectory_plan_randn(localB->ub, qi, localB, localDW); |
| 13912 | } |
| 13913 | } |
| 13914 | |
| 13915 | if (localB->err > localB->iter) { |
| 13916 | localB->nx = 0; |
| 13917 | localB->ix = 0; |
| 13918 | } else { |
| 13919 | localB->nx = static_cast<int32_T>(localB->err) - 1; |
| 13920 | localB->ix = static_cast<int32_T>(localB->iter); |
| 13921 | } |
| 13922 | |
| 13923 | localB->unnamed_idx_1 = localB->ix - localB->nx; |
| 13924 | for (localB->ix = 0; localB->ix < localB->unnamed_idx_1; localB->ix++) |
| 13925 | { |
| 13926 | newseed->data[localB->nx + localB->ix] = qi->data[localB->ix]; |
| 13927 | } |
| 13928 | } |
| 13929 | } |
| 13930 | |
| 13931 | for (localB->ix = 0; localB->ix < 6; localB->ix++) { |
| 13932 | obj->SeedInternal[localB->ix] = newseed->data[localB->ix]; |
| 13933 | } |
| 13934 | |
| 13935 | DampedBFGSwGradientProjection_s(obj, localB->c_xSol, &localB->exitFlag, |
| 13936 | &localB->err, &localB->iter, localB); |
| 13937 | if (localB->err < *solutionInfo_Error) { |
| 13938 | for (localB->i_fq = 0; localB->i_fq < 6; localB->i_fq++) { |
| 13939 | xSol[localB->i_fq] = localB->c_xSol[localB->i_fq]; |
| 13940 | } |
| 13941 | |
| 13942 | *solutionInfo_Error = localB->err; |
| 13943 | localB->exitFlagPrev = localB->exitFlag; |
| 13944 | } |
| 13945 | |
| 13946 | (*solutionInfo_RRAttempts)++; |
| 13947 | *solutionInfo_Iterations += localB->iter; |
| 13948 | } |
| 13949 | } |
| 13950 | |
| 13951 | cartesian_tra_emxFree_boolean_T(&x_0); |
| 13952 | cartesian_tra_emxFree_boolean_T(&x_tmp_0); |
| 13953 | cartesian_tra_emxFree_boolean_T(&x_tmp); |
| 13954 | cartesian_tra_emxFree_boolean_T(&x); |
| 13955 | cartesian_trajec_emxFree_real_T(&e); |
| 13956 | cartesian_trajec_emxFree_real_T(&rn); |
| 13957 | cartesian_trajec_emxFree_real_T(&lb); |
| 13958 | cartesian_trajec_emxFree_real_T(&ub); |
| 13959 | cartesian_trajec_emxFree_real_T(&qi); |
| 13960 | cartesian_trajec_emxFree_real_T(&newseed); |
| 13961 | *solutionInfo_ExitFlag = localB->exitFlagPrev; |
| 13962 | if (*solutionInfo_Error < localB->tol) { |
| 13963 | solutionInfo_Status_size[0] = 1; |
| 13964 | solutionInfo_Status_size[1] = 7; |
| 13965 | for (localB->ix = 0; localB->ix < 7; localB->ix++) { |
| 13966 | solutionInfo_Status_data[localB->ix] = tmp_0[localB->ix]; |
| 13967 | } |
| 13968 | } else { |
| 13969 | solutionInfo_Status_size[0] = 1; |
| 13970 | solutionInfo_Status_size[1] = 14; |
| 13971 | for (localB->ix = 0; localB->ix < 14; localB->ix++) { |
| 13972 | solutionInfo_Status_data[localB->ix] = tmp[localB->ix]; |
| 13973 | } |
| 13974 | } |
| 13975 | } |
| 13976 | |
| 13977 | static void cart_inverseKinematics_stepImpl(b_inverseKinematics_cartesian_T *obj, |
| 13978 | const real_T tform[16], const real_T weights[6], const real_T initialGuess[6], |
| 13979 | real_T QSol[6], real_T *solutionInfo_Iterations, real_T |
| 13980 | *solutionInfo_PoseErrorNorm, real_T *solutionInfo_ExitFlag, char_T |
| 13981 | solutionInfo_Status_data[], int32_T solutionInfo_Status_size[2], |
| 13982 | B_MATLABSystem_cartesian_traj_T *localB, DW_MATLABSystem_cartesian_tra_T |
| 13983 | *localDW) |
| 13984 | { |
| 13985 | emxArray_real_T_cartesian_tra_T *bodyIndices; |
| 13986 | emxArray_real_T_cartesian_tra_T *positionIndices; |
| 13987 | x_robotics_manip_internal_Rig_T *obj_0; |
| 13988 | emxArray_char_T_cartesian_tra_T *endEffectorName; |
| 13989 | w_robotics_manip_internal_Rig_T *body; |
| 13990 | emxArray_real_T_cartesian_tra_T *positionMap; |
| 13991 | emxArray_real_T_cartesian_tra_T *e; |
| 13992 | emxArray_int32_T_cartesian_tr_T *h; |
| 13993 | emxArray_real_T_cartesian_tra_T *y; |
| 13994 | emxArray_char_T_cartesian_tra_T *bname; |
| 13995 | emxArray_real_T_cartesian_tra_T *bodyIndices_0; |
| 13996 | boolean_T exitg1; |
| 13997 | c_inverseKinematics_setPoseGoal(obj, tform, weights, localB); |
| 13998 | for (localB->i_f = 0; localB->i_f < 6; localB->i_f++) { |
| 13999 | QSol[localB->i_f] = initialGuess[localB->i_f]; |
| 14000 | } |
| 14001 | |
| 14002 | cartesian_trajec_emxInit_char_T(&endEffectorName, 2, localB); |
| 14003 | RigidBodyTree_validateConfigu_j(obj->RigidBodyTreeInternal, QSol, localB); |
| 14004 | cartes_NLPSolverInterface_solve(obj->Solver, QSol, localB->qvSolRaw, |
| 14005 | &localB->d, &localB->bid, &localB->d1, &localB->d2, solutionInfo_Status_data, |
| 14006 | solutionInfo_Status_size, localB, localDW); |
| 14007 | *solutionInfo_ExitFlag = localB->d2; |
| 14008 | *solutionInfo_PoseErrorNorm = localB->d1; |
| 14009 | *solutionInfo_Iterations = localB->d; |
| 14010 | obj_0 = obj->RigidBodyTreeInternal; |
| 14011 | localB->partialTrueCount = endEffectorName->size[0] * endEffectorName->size[1]; |
| 14012 | endEffectorName->size[0] = 1; |
| 14013 | endEffectorName->size[1] = obj->Solver->ExtraArgs->BodyName->size[1]; |
| 14014 | cartes_emxEnsureCapacity_char_T(endEffectorName, localB->partialTrueCount, |
| 14015 | localB); |
| 14016 | localB->loop_ub = obj->Solver->ExtraArgs->BodyName->size[0] * obj-> |
| 14017 | Solver->ExtraArgs->BodyName->size[1] - 1; |
| 14018 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= localB->loop_ub; |
| 14019 | localB->partialTrueCount++) { |
| 14020 | endEffectorName->data[localB->partialTrueCount] = obj->Solver-> |
| 14021 | ExtraArgs->BodyName->data[localB->partialTrueCount]; |
| 14022 | } |
| 14023 | |
| 14024 | cartesian_trajec_emxInit_real_T(&bodyIndices, 1, localB); |
| 14025 | localB->partialTrueCount = bodyIndices->size[0]; |
| 14026 | bodyIndices->size[0] = static_cast<int32_T>(obj_0->NumBodies); |
| 14027 | cartes_emxEnsureCapacity_real_T(bodyIndices, localB->partialTrueCount, localB); |
| 14028 | localB->loop_ub = static_cast<int32_T>(obj_0->NumBodies); |
| 14029 | for (localB->partialTrueCount = 0; localB->partialTrueCount < localB->loop_ub; |
| 14030 | localB->partialTrueCount++) { |
| 14031 | bodyIndices->data[localB->partialTrueCount] = 0.0; |
| 14032 | } |
| 14033 | |
| 14034 | cartesian_trajec_emxInit_char_T(&bname, 2, localB); |
| 14035 | localB->bid = -1.0; |
| 14036 | localB->partialTrueCount = bname->size[0] * bname->size[1]; |
| 14037 | bname->size[0] = 1; |
| 14038 | bname->size[1] = obj_0->Base.NameInternal->size[1]; |
| 14039 | cartes_emxEnsureCapacity_char_T(bname, localB->partialTrueCount, localB); |
| 14040 | localB->loop_ub = obj_0->Base.NameInternal->size[0] * obj_0-> |
| 14041 | Base.NameInternal->size[1] - 1; |
| 14042 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= localB->loop_ub; |
| 14043 | localB->partialTrueCount++) { |
| 14044 | bname->data[localB->partialTrueCount] = obj_0->Base.NameInternal-> |
| 14045 | data[localB->partialTrueCount]; |
| 14046 | } |
| 14047 | |
| 14048 | if (cartesian_trajectory_pla_strcmp(bname, endEffectorName)) { |
| 14049 | localB->bid = 0.0; |
| 14050 | } else { |
| 14051 | localB->numPositions = obj_0->NumBodies; |
| 14052 | localB->i_f = 0; |
| 14053 | exitg1 = false; |
| 14054 | while ((!exitg1) && (localB->i_f <= static_cast<int32_T> |
| 14055 | (localB->numPositions) - 1)) { |
| 14056 | body = obj_0->Bodies[localB->i_f]; |
| 14057 | localB->partialTrueCount = bname->size[0] * bname->size[1]; |
| 14058 | bname->size[0] = 1; |
| 14059 | bname->size[1] = body->NameInternal->size[1]; |
| 14060 | cartes_emxEnsureCapacity_char_T(bname, localB->partialTrueCount, localB); |
| 14061 | localB->loop_ub = body->NameInternal->size[0] * body->NameInternal->size[1] |
| 14062 | - 1; |
| 14063 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= |
| 14064 | localB->loop_ub; localB->partialTrueCount++) { |
| 14065 | bname->data[localB->partialTrueCount] = body->NameInternal->data |
| 14066 | [localB->partialTrueCount]; |
| 14067 | } |
| 14068 | |
| 14069 | if (cartesian_trajectory_pla_strcmp(bname, endEffectorName)) { |
| 14070 | localB->bid = static_cast<real_T>(localB->i_f) + 1.0; |
| 14071 | exitg1 = true; |
| 14072 | } else { |
| 14073 | localB->i_f++; |
| 14074 | } |
| 14075 | } |
| 14076 | } |
| 14077 | |
| 14078 | cartesian_trajec_emxFree_char_T(&bname); |
| 14079 | cartesian_trajec_emxFree_char_T(&endEffectorName); |
| 14080 | if (localB->bid == 0.0) { |
| 14081 | localB->partialTrueCount = bodyIndices->size[0]; |
| 14082 | bodyIndices->size[0] = 1; |
| 14083 | cartes_emxEnsureCapacity_real_T(bodyIndices, localB->partialTrueCount, |
| 14084 | localB); |
| 14085 | bodyIndices->data[0] = 0.0; |
| 14086 | } else { |
| 14087 | body = obj_0->Bodies[static_cast<int32_T>(localB->bid) - 1]; |
| 14088 | localB->bid = 1.0; |
| 14089 | while (body->ParentIndex != 0.0) { |
| 14090 | bodyIndices->data[static_cast<int32_T>(localB->bid) - 1] = body->Index; |
| 14091 | body = obj_0->Bodies[static_cast<int32_T>(body->ParentIndex) - 1]; |
| 14092 | localB->bid++; |
| 14093 | } |
| 14094 | |
| 14095 | if (1.0 > localB->bid - 1.0) { |
| 14096 | localB->c_k = -1; |
| 14097 | } else { |
| 14098 | localB->c_k = static_cast<int32_T>(localB->bid - 1.0) - 1; |
| 14099 | } |
| 14100 | |
| 14101 | cartesian_trajec_emxInit_real_T(&bodyIndices_0, 1, localB); |
| 14102 | localB->partialTrueCount = bodyIndices_0->size[0]; |
| 14103 | bodyIndices_0->size[0] = localB->c_k + 3; |
| 14104 | cartes_emxEnsureCapacity_real_T(bodyIndices_0, localB->partialTrueCount, |
| 14105 | localB); |
| 14106 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= localB->c_k; |
| 14107 | localB->partialTrueCount++) { |
| 14108 | bodyIndices_0->data[localB->partialTrueCount] = bodyIndices->data |
| 14109 | [localB->partialTrueCount]; |
| 14110 | } |
| 14111 | |
| 14112 | bodyIndices_0->data[localB->c_k + 1] = body->Index; |
| 14113 | bodyIndices_0->data[localB->c_k + 2] = 0.0; |
| 14114 | localB->partialTrueCount = bodyIndices->size[0]; |
| 14115 | bodyIndices->size[0] = bodyIndices_0->size[0]; |
| 14116 | cartes_emxEnsureCapacity_real_T(bodyIndices, localB->partialTrueCount, |
| 14117 | localB); |
| 14118 | localB->loop_ub = bodyIndices_0->size[0]; |
| 14119 | for (localB->partialTrueCount = 0; localB->partialTrueCount < |
| 14120 | localB->loop_ub; localB->partialTrueCount++) { |
| 14121 | bodyIndices->data[localB->partialTrueCount] = bodyIndices_0->data |
| 14122 | [localB->partialTrueCount]; |
| 14123 | } |
| 14124 | |
| 14125 | cartesian_trajec_emxFree_real_T(&bodyIndices_0); |
| 14126 | } |
| 14127 | |
| 14128 | obj_0 = obj->RigidBodyTreeInternal; |
| 14129 | localB->c_k = bodyIndices->size[0] - 1; |
| 14130 | localB->loop_ub = 0; |
| 14131 | for (localB->i_f = 0; localB->i_f <= localB->c_k; localB->i_f++) { |
| 14132 | if (bodyIndices->data[localB->i_f] != 0.0) { |
| 14133 | localB->loop_ub++; |
| 14134 | } |
| 14135 | } |
| 14136 | |
| 14137 | cartesian_traje_emxInit_int32_T(&h, 1); |
| 14138 | localB->partialTrueCount = h->size[0]; |
| 14139 | h->size[0] = localB->loop_ub; |
| 14140 | carte_emxEnsureCapacity_int32_T(h, localB->partialTrueCount); |
| 14141 | localB->partialTrueCount = 0; |
| 14142 | for (localB->i_f = 0; localB->i_f <= localB->c_k; localB->i_f++) { |
| 14143 | if (bodyIndices->data[localB->i_f] != 0.0) { |
| 14144 | h->data[localB->partialTrueCount] = localB->i_f + 1; |
| 14145 | localB->partialTrueCount++; |
| 14146 | } |
| 14147 | } |
| 14148 | |
| 14149 | cartesian_trajec_emxInit_real_T(&positionMap, 2, localB); |
| 14150 | localB->partialTrueCount = positionMap->size[0] * positionMap->size[1]; |
| 14151 | positionMap->size[0] = h->size[0]; |
| 14152 | positionMap->size[1] = 2; |
| 14153 | cartes_emxEnsureCapacity_real_T(positionMap, localB->partialTrueCount, localB); |
| 14154 | localB->loop_ub = h->size[0]; |
| 14155 | for (localB->partialTrueCount = 0; localB->partialTrueCount < localB->loop_ub; |
| 14156 | localB->partialTrueCount++) { |
| 14157 | positionMap->data[localB->partialTrueCount] = obj_0->PositionDoFMap[ |
| 14158 | static_cast<int32_T>(bodyIndices->data[h->data[localB->partialTrueCount] - |
| 14159 | 1]) - 1]; |
| 14160 | } |
| 14161 | |
| 14162 | localB->loop_ub = h->size[0]; |
| 14163 | for (localB->partialTrueCount = 0; localB->partialTrueCount < localB->loop_ub; |
| 14164 | localB->partialTrueCount++) { |
| 14165 | positionMap->data[localB->partialTrueCount + positionMap->size[0]] = |
| 14166 | obj_0->PositionDoFMap[static_cast<int32_T>(bodyIndices->data[h-> |
| 14167 | data[localB->partialTrueCount] - 1]) + 7]; |
| 14168 | } |
| 14169 | |
| 14170 | cartesian_traje_emxFree_int32_T(&h); |
| 14171 | cartesian_trajec_emxFree_real_T(&bodyIndices); |
| 14172 | cartesian_trajec_emxInit_real_T(&positionIndices, 2, localB); |
| 14173 | localB->partialTrueCount = positionIndices->size[0] * positionIndices->size[1]; |
| 14174 | positionIndices->size[0] = 1; |
| 14175 | positionIndices->size[1] = static_cast<int32_T>(obj_0->PositionNumber); |
| 14176 | cartes_emxEnsureCapacity_real_T(positionIndices, localB->partialTrueCount, |
| 14177 | localB); |
| 14178 | localB->loop_ub = static_cast<int32_T>(obj_0->PositionNumber) - 1; |
| 14179 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= localB->loop_ub; |
| 14180 | localB->partialTrueCount++) { |
| 14181 | positionIndices->data[localB->partialTrueCount] = 0.0; |
| 14182 | } |
| 14183 | |
| 14184 | localB->bid = 0.0; |
| 14185 | localB->c_k = positionMap->size[0] - 1; |
| 14186 | cartesian_trajec_emxInit_real_T(&e, 2, localB); |
| 14187 | cartesian_trajec_emxInit_real_T(&y, 2, localB); |
| 14188 | for (localB->i_f = 0; localB->i_f <= localB->c_k; localB->i_f++) { |
| 14189 | localB->numPositions = (positionMap->data[localB->i_f + positionMap->size[0]] |
| 14190 | - positionMap->data[localB->i_f]) + 1.0; |
| 14191 | if (localB->numPositions > 0.0) { |
| 14192 | if (localB->numPositions < 1.0) { |
| 14193 | y->size[0] = 1; |
| 14194 | y->size[1] = 0; |
| 14195 | } else if (rtIsInf(localB->numPositions) && (1.0 == localB->numPositions)) |
| 14196 | { |
| 14197 | localB->partialTrueCount = y->size[0] * y->size[1]; |
| 14198 | y->size[0] = 1; |
| 14199 | y->size[1] = 1; |
| 14200 | cartes_emxEnsureCapacity_real_T(y, localB->partialTrueCount, localB); |
| 14201 | y->data[0] = (rtNaN); |
| 14202 | } else { |
| 14203 | localB->partialTrueCount = y->size[0] * y->size[1]; |
| 14204 | y->size[0] = 1; |
| 14205 | localB->loop_ub = static_cast<int32_T>(floor(localB->numPositions - 1.0)); |
| 14206 | y->size[1] = localB->loop_ub + 1; |
| 14207 | cartes_emxEnsureCapacity_real_T(y, localB->partialTrueCount, localB); |
| 14208 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= |
| 14209 | localB->loop_ub; localB->partialTrueCount++) { |
| 14210 | y->data[localB->partialTrueCount] = static_cast<real_T> |
| 14211 | (localB->partialTrueCount) + 1.0; |
| 14212 | } |
| 14213 | } |
| 14214 | |
| 14215 | if (rtIsNaN(positionMap->data[localB->i_f]) || rtIsNaN(positionMap-> |
| 14216 | data[localB->i_f + positionMap->size[0]])) { |
| 14217 | localB->partialTrueCount = e->size[0] * e->size[1]; |
| 14218 | e->size[0] = 1; |
| 14219 | e->size[1] = 1; |
| 14220 | cartes_emxEnsureCapacity_real_T(e, localB->partialTrueCount, localB); |
| 14221 | e->data[0] = (rtNaN); |
| 14222 | } else if (positionMap->data[localB->i_f + positionMap->size[0]] < |
| 14223 | positionMap->data[localB->i_f]) { |
| 14224 | e->size[0] = 1; |
| 14225 | e->size[1] = 0; |
| 14226 | } else if ((rtIsInf(positionMap->data[localB->i_f]) || rtIsInf |
| 14227 | (positionMap->data[localB->i_f + positionMap->size[0]])) && |
| 14228 | (positionMap->data[localB->i_f + positionMap->size[0]] == |
| 14229 | positionMap->data[localB->i_f])) { |
| 14230 | localB->partialTrueCount = e->size[0] * e->size[1]; |
| 14231 | e->size[0] = 1; |
| 14232 | e->size[1] = 1; |
| 14233 | cartes_emxEnsureCapacity_real_T(e, localB->partialTrueCount, localB); |
| 14234 | e->data[0] = (rtNaN); |
| 14235 | } else if (floor(positionMap->data[localB->i_f]) == positionMap-> |
| 14236 | data[localB->i_f]) { |
| 14237 | localB->partialTrueCount = e->size[0] * e->size[1]; |
| 14238 | e->size[0] = 1; |
| 14239 | e->size[1] = static_cast<int32_T>(floor(positionMap->data[localB->i_f + |
| 14240 | positionMap->size[0]] - positionMap->data[localB->i_f])) + 1; |
| 14241 | cartes_emxEnsureCapacity_real_T(e, localB->partialTrueCount, localB); |
| 14242 | localB->loop_ub = static_cast<int32_T>(floor(positionMap->data |
| 14243 | [localB->i_f + positionMap->size[0]] - positionMap->data[localB->i_f])); |
| 14244 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= |
| 14245 | localB->loop_ub; localB->partialTrueCount++) { |
| 14246 | e->data[localB->partialTrueCount] = positionMap->data[localB->i_f] + |
| 14247 | static_cast<real_T>(localB->partialTrueCount); |
| 14248 | } |
| 14249 | } else { |
| 14250 | localB->ndbl = floor((positionMap->data[localB->i_f + positionMap->size |
| 14251 | [0]] - positionMap->data[localB->i_f]) + 0.5); |
| 14252 | localB->apnd = positionMap->data[localB->i_f] + localB->ndbl; |
| 14253 | localB->cdiff = localB->apnd - positionMap->data[localB->i_f + |
| 14254 | positionMap->size[0]]; |
| 14255 | localB->u0_m = fabs(positionMap->data[localB->i_f]); |
| 14256 | localB->u1_m = fabs(positionMap->data[localB->i_f + positionMap->size[0]]); |
| 14257 | if ((localB->u0_m > localB->u1_m) || rtIsNaN(localB->u1_m)) { |
| 14258 | localB->u1_m = localB->u0_m; |
| 14259 | } |
| 14260 | |
| 14261 | if (fabs(localB->cdiff) < 4.4408920985006262E-16 * localB->u1_m) { |
| 14262 | localB->ndbl++; |
| 14263 | localB->apnd = positionMap->data[localB->i_f + positionMap->size[0]]; |
| 14264 | } else if (localB->cdiff > 0.0) { |
| 14265 | localB->apnd = (localB->ndbl - 1.0) + positionMap->data[localB->i_f]; |
| 14266 | } else { |
| 14267 | localB->ndbl++; |
| 14268 | } |
| 14269 | |
| 14270 | if (localB->ndbl >= 0.0) { |
| 14271 | localB->partialTrueCount = static_cast<int32_T>(localB->ndbl); |
| 14272 | } else { |
| 14273 | localB->partialTrueCount = 0; |
| 14274 | } |
| 14275 | |
| 14276 | localB->loop_ub = localB->partialTrueCount - 1; |
| 14277 | localB->partialTrueCount = e->size[0] * e->size[1]; |
| 14278 | e->size[0] = 1; |
| 14279 | e->size[1] = localB->loop_ub + 1; |
| 14280 | cartes_emxEnsureCapacity_real_T(e, localB->partialTrueCount, localB); |
| 14281 | if (localB->loop_ub + 1 > 0) { |
| 14282 | e->data[0] = positionMap->data[localB->i_f]; |
| 14283 | if (localB->loop_ub + 1 > 1) { |
| 14284 | e->data[localB->loop_ub] = localB->apnd; |
| 14285 | localB->nm1d2 = ((localB->loop_ub < 0) + localB->loop_ub) >> 1; |
| 14286 | localB->c_j = localB->nm1d2 - 2; |
| 14287 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= |
| 14288 | localB->c_j; localB->partialTrueCount++) { |
| 14289 | localB->k = localB->partialTrueCount + 1; |
| 14290 | e->data[localB->k] = positionMap->data[localB->i_f] + static_cast< |
| 14291 | real_T>(localB->k); |
| 14292 | e->data[localB->loop_ub - localB->k] = localB->apnd - static_cast< |
| 14293 | real_T>(localB->k); |
| 14294 | } |
| 14295 | |
| 14296 | if (localB->nm1d2 << 1 == localB->loop_ub) { |
| 14297 | e->data[localB->nm1d2] = (positionMap->data[localB->i_f] + |
| 14298 | localB->apnd) / 2.0; |
| 14299 | } else { |
| 14300 | e->data[localB->nm1d2] = positionMap->data[localB->i_f] + |
| 14301 | static_cast<real_T>(localB->nm1d2); |
| 14302 | e->data[localB->nm1d2 + 1] = localB->apnd - static_cast<real_T> |
| 14303 | (localB->nm1d2); |
| 14304 | } |
| 14305 | } |
| 14306 | } |
| 14307 | } |
| 14308 | |
| 14309 | localB->partialTrueCount = e->size[0] * e->size[1]; |
| 14310 | localB->loop_ub = localB->partialTrueCount - 1; |
| 14311 | for (localB->partialTrueCount = 0; localB->partialTrueCount <= |
| 14312 | localB->loop_ub; localB->partialTrueCount++) { |
| 14313 | positionIndices->data[static_cast<int32_T>(localB->bid + y->data |
| 14314 | [localB->partialTrueCount]) - 1] = e->data[localB->partialTrueCount]; |
| 14315 | } |
| 14316 | |
| 14317 | localB->bid += localB->numPositions; |
| 14318 | } |
| 14319 | } |
| 14320 | |
| 14321 | cartesian_trajec_emxFree_real_T(&y); |
| 14322 | cartesian_trajec_emxFree_real_T(&e); |
| 14323 | cartesian_trajec_emxFree_real_T(&positionMap); |
| 14324 | if (1.0 > localB->bid) { |
| 14325 | positionIndices->size[1] = 0; |
| 14326 | } else { |
| 14327 | localB->partialTrueCount = positionIndices->size[0] * positionIndices->size |
| 14328 | [1]; |
| 14329 | positionIndices->size[1] = static_cast<int32_T>(localB->bid); |
| 14330 | cartes_emxEnsureCapacity_real_T(positionIndices, localB->partialTrueCount, |
| 14331 | localB); |
| 14332 | } |
| 14333 | |
| 14334 | localB->loop_ub = positionIndices->size[0] * positionIndices->size[1]; |
| 14335 | for (localB->partialTrueCount = 0; localB->partialTrueCount < localB->loop_ub; |
| 14336 | localB->partialTrueCount++) { |
| 14337 | QSol[static_cast<int32_T>(positionIndices->data[localB->partialTrueCount]) - |
| 14338 | 1] = localB->qvSolRaw[static_cast<int32_T>(positionIndices->data |
| 14339 | [localB->partialTrueCount]) - 1]; |
| 14340 | } |
| 14341 | |
| 14342 | cartesian_trajec_emxFree_real_T(&positionIndices); |
| 14343 | } |
| 14344 | |
| 14345 | real_T rt_roundd_snf(real_T u) |
| 14346 | { |
| 14347 | real_T y; |
| 14348 | if (fabs(u) < 4.503599627370496E+15) { |
| 14349 | if (u >= 0.5) { |
| 14350 | y = floor(u + 0.5); |
| 14351 | } else if (u > -0.5) { |
| 14352 | y = u * 0.0; |
| 14353 | } else { |
| 14354 | y = ceil(u - 0.5); |
| 14355 | } |
| 14356 | } else { |
| 14357 | y = u; |
| 14358 | } |
| 14359 | |
| 14360 | return y; |
| 14361 | } |
| 14362 | |
| 14363 | static void matlabCodegenHandle_matlabCod_o(robotics_slmanip_internal_blo_T *obj) |
| 14364 | { |
| 14365 | if (!obj->matlabCodegenIsDeleted) { |
| 14366 | obj->matlabCodegenIsDeleted = true; |
| 14367 | } |
| 14368 | } |
| 14369 | |
| 14370 | static void cartesian_tr_SystemCore_release(b_inverseKinematics_cartesian_T *obj) |
| 14371 | { |
| 14372 | if (obj->isInitialized == 1) { |
| 14373 | obj->isInitialized = 2; |
| 14374 | } |
| 14375 | } |
| 14376 | |
| 14377 | static void cartesian_tra_SystemCore_delete(b_inverseKinematics_cartesian_T *obj) |
| 14378 | { |
| 14379 | cartesian_tr_SystemCore_release(obj); |
| 14380 | } |
| 14381 | |
| 14382 | static void matlabCodegenHandle_matlabCodeg(b_inverseKinematics_cartesian_T *obj) |
| 14383 | { |
| 14384 | if (!obj->matlabCodegenIsDeleted) { |
| 14385 | obj->matlabCodegenIsDeleted = true; |
| 14386 | cartesian_tra_SystemCore_delete(obj); |
| 14387 | } |
| 14388 | } |
| 14389 | |
| 14390 | static void emxFreeStruct_c_rigidBodyJoint(c_rigidBodyJoint_cartesian_tr_T |
| 14391 | *pStruct) |
| 14392 | { |
| 14393 | cartesian_trajec_emxFree_char_T(&pStruct->Type); |
| 14394 | cartesian_trajec_emxFree_real_T(&pStruct->MotionSubspace); |
| 14395 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 14396 | cartesian_trajec_emxFree_real_T(&pStruct->PositionLimitsInternal); |
| 14397 | cartesian_trajec_emxFree_real_T(&pStruct->HomePositionInternal); |
| 14398 | } |
| 14399 | |
| 14400 | static void emxFreeStruct_v_robotics_manip_(v_robotics_manip_internal_Rig_T |
| 14401 | *pStruct) |
| 14402 | { |
| 14403 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 14404 | emxFreeStruct_c_rigidBodyJoint(&pStruct->JointInternal); |
| 14405 | } |
| 14406 | |
| 14407 | static void emxFreeStruct_y_robotics_manip_(y_robotics_manip_internal_Rig_T |
| 14408 | *pStruct) |
| 14409 | { |
| 14410 | emxFreeStruct_v_robotics_manip_(&pStruct->Base); |
| 14411 | } |
| 14412 | |
| 14413 | static void emxFreeStruct_b_inverseKinemati(b_inverseKinematics_cartesian_T |
| 14414 | *pStruct) |
| 14415 | { |
| 14416 | cartesian_trajec_emxFree_real_T(&pStruct->Limits); |
| 14417 | } |
| 14418 | |
| 14419 | static void emxFreeStruct_robotics_slmanip_(robotics_slmanip_internal_blo_T |
| 14420 | *pStruct) |
| 14421 | { |
| 14422 | emxFreeStruct_y_robotics_manip_(&pStruct->TreeInternal); |
| 14423 | emxFreeStruct_b_inverseKinemati(&pStruct->IKInternal); |
| 14424 | } |
| 14425 | |
| 14426 | static void emxFreeStruct_w_robotics_manip_(w_robotics_manip_internal_Rig_T |
| 14427 | *pStruct) |
| 14428 | { |
| 14429 | cartesian_trajec_emxFree_char_T(&pStruct->NameInternal); |
| 14430 | } |
| 14431 | |
| 14432 | static void emxFreeStruct_x_robotics_manip_(x_robotics_manip_internal_Rig_T |
| 14433 | *pStruct) |
| 14434 | { |
| 14435 | emxFreeStruct_w_robotics_manip_(&pStruct->Base); |
| 14436 | } |
| 14437 | |
| 14438 | static void emxFreeStruct_f_robotics_manip_(f_robotics_manip_internal_IKE_T |
| 14439 | *pStruct) |
| 14440 | { |
| 14441 | cartesian_trajec_emxFree_char_T(&pStruct->BodyName); |
| 14442 | cartesian_trajec_emxFree_real_T(&pStruct->ErrTemp); |
| 14443 | cartesian_trajec_emxFree_real_T(&pStruct->GradTemp); |
| 14444 | } |
| 14445 | |
| 14446 | static void emxFreeStruct_h_robotics_core_i(h_robotics_core_internal_Damp_T |
| 14447 | *pStruct) |
| 14448 | { |
| 14449 | cartesian_trajec_emxFree_real_T(&pStruct->ConstraintMatrix); |
| 14450 | cartesian_trajec_emxFree_real_T(&pStruct->ConstraintBound); |
| 14451 | } |
| 14452 | |
| 14453 | // |
| 14454 | // System initialize for atomic system: |
| 14455 | // synthesized block |
| 14456 | // synthesized block |
| 14457 | // |
| 14458 | void cartesian_tra_MATLABSystem_Init(B_MATLABSystem_cartesian_traj_T *localB, |
| 14459 | DW_MATLABSystem_cartesian_tra_T *localDW) |
| 14460 | { |
| 14461 | robotics_slmanip_internal_blo_T *obj; |
| 14462 | b_inverseKinematics_cartesian_T *obj_0; |
| 14463 | h_robotics_core_internal_Damp_T *obj_1; |
| 14464 | emxInitStruct_robotics_slmanip_(&localDW->obj, localB); |
| 14465 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_1, localB); |
| 14466 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_50, localB); |
| 14467 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_49, localB); |
| 14468 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_48, localB); |
| 14469 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_47, localB); |
| 14470 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_46, localB); |
| 14471 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_45, localB); |
| 14472 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_44, localB); |
| 14473 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_43, localB); |
| 14474 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_42, localB); |
| 14475 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_41, localB); |
| 14476 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_40, localB); |
| 14477 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_39, localB); |
| 14478 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_38, localB); |
| 14479 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_37, localB); |
| 14480 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_36, localB); |
| 14481 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_35, localB); |
| 14482 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_34, localB); |
| 14483 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_33, localB); |
| 14484 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_32, localB); |
| 14485 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_31, localB); |
| 14486 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_30, localB); |
| 14487 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_29, localB); |
| 14488 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_28, localB); |
| 14489 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_27, localB); |
| 14490 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_26, localB); |
| 14491 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_25, localB); |
| 14492 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_24, localB); |
| 14493 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_23, localB); |
| 14494 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_22, localB); |
| 14495 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_21, localB); |
| 14496 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_20, localB); |
| 14497 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_19, localB); |
| 14498 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_18, localB); |
| 14499 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_17, localB); |
| 14500 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_16, localB); |
| 14501 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_15, localB); |
| 14502 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_14, localB); |
| 14503 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_13, localB); |
| 14504 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_12, localB); |
| 14505 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_11, localB); |
| 14506 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_10, localB); |
| 14507 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_9, localB); |
| 14508 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_8, localB); |
| 14509 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_7, localB); |
| 14510 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_6, localB); |
| 14511 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_5, localB); |
| 14512 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_4, localB); |
| 14513 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_3, localB); |
| 14514 | emxInitStruct_c_rigidBodyJoint(&localDW->gobj_2, localB); |
| 14515 | emxInitStruct_w_robotics_manip_(&localDW->gobj_51, localB); |
| 14516 | emxInitStruct_w_robotics_manip_(&localDW->gobj_82, localB); |
| 14517 | emxInitStruct_w_robotics_manip_(&localDW->gobj_81, localB); |
| 14518 | emxInitStruct_w_robotics_manip_(&localDW->gobj_80, localB); |
| 14519 | emxInitStruct_w_robotics_manip_(&localDW->gobj_79, localB); |
| 14520 | emxInitStruct_w_robotics_manip_(&localDW->gobj_78, localB); |
| 14521 | emxInitStruct_w_robotics_manip_(&localDW->gobj_77, localB); |
| 14522 | emxInitStruct_w_robotics_manip_(&localDW->gobj_76, localB); |
| 14523 | emxInitStruct_w_robotics_manip_(&localDW->gobj_75, localB); |
| 14524 | emxInitStruct_w_robotics_manip_(&localDW->gobj_74, localB); |
| 14525 | emxInitStruct_w_robotics_manip_(&localDW->gobj_73, localB); |
| 14526 | emxInitStruct_w_robotics_manip_(&localDW->gobj_72, localB); |
| 14527 | emxInitStruct_w_robotics_manip_(&localDW->gobj_71, localB); |
| 14528 | emxInitStruct_w_robotics_manip_(&localDW->gobj_70, localB); |
| 14529 | emxInitStruct_w_robotics_manip_(&localDW->gobj_69, localB); |
| 14530 | emxInitStruct_w_robotics_manip_(&localDW->gobj_68, localB); |
| 14531 | emxInitStruct_w_robotics_manip_(&localDW->gobj_67, localB); |
| 14532 | emxInitStruct_w_robotics_manip_(&localDW->gobj_66, localB); |
| 14533 | emxInitStruct_w_robotics_manip_(&localDW->gobj_65, localB); |
| 14534 | emxInitStruct_w_robotics_manip_(&localDW->gobj_64, localB); |
| 14535 | emxInitStruct_w_robotics_manip_(&localDW->gobj_63, localB); |
| 14536 | emxInitStruct_w_robotics_manip_(&localDW->gobj_62, localB); |
| 14537 | emxInitStruct_w_robotics_manip_(&localDW->gobj_61, localB); |
| 14538 | emxInitStruct_w_robotics_manip_(&localDW->gobj_60, localB); |
| 14539 | emxInitStruct_w_robotics_manip_(&localDW->gobj_59, localB); |
| 14540 | emxInitStruct_w_robotics_manip_(&localDW->gobj_58, localB); |
| 14541 | emxInitStruct_w_robotics_manip_(&localDW->gobj_57, localB); |
| 14542 | emxInitStruct_w_robotics_manip_(&localDW->gobj_56, localB); |
| 14543 | emxInitStruct_w_robotics_manip_(&localDW->gobj_55, localB); |
| 14544 | emxInitStruct_w_robotics_manip_(&localDW->gobj_54, localB); |
| 14545 | emxInitStruct_w_robotics_manip_(&localDW->gobj_53, localB); |
| 14546 | emxInitStruct_w_robotics_manip_(&localDW->gobj_52, localB); |
| 14547 | emxInitStruct_x_robotics_manip_(&localDW->gobj_83, localB); |
| 14548 | emxInitStruct_x_robotics_manip_(&localDW->gobj_84, localB); |
| 14549 | emxInitStruct_f_robotics_manip_(&localDW->gobj_85, localB); |
| 14550 | emxInitStruct_h_robotics_core_i(&localDW->gobj_86, localB); |
| 14551 | emxInitStruct_h_robotics_core_i(&localDW->gobj_87, localB); |
| 14552 | emxInitStruct_v_robotics_manip_(&localDW->gobj_88, localB); |
| 14553 | emxInitStruct_v_robotics_manip_(&localDW->gobj_103, localB); |
| 14554 | emxInitStruct_v_robotics_manip_(&localDW->gobj_102, localB); |
| 14555 | emxInitStruct_v_robotics_manip_(&localDW->gobj_101, localB); |
| 14556 | emxInitStruct_v_robotics_manip_(&localDW->gobj_100, localB); |
| 14557 | emxInitStruct_v_robotics_manip_(&localDW->gobj_99, localB); |
| 14558 | emxInitStruct_v_robotics_manip_(&localDW->gobj_98, localB); |
| 14559 | emxInitStruct_v_robotics_manip_(&localDW->gobj_97, localB); |
| 14560 | emxInitStruct_v_robotics_manip_(&localDW->gobj_96, localB); |
| 14561 | emxInitStruct_v_robotics_manip_(&localDW->gobj_95, localB); |
| 14562 | emxInitStruct_v_robotics_manip_(&localDW->gobj_94, localB); |
| 14563 | emxInitStruct_v_robotics_manip_(&localDW->gobj_93, localB); |
| 14564 | emxInitStruct_v_robotics_manip_(&localDW->gobj_92, localB); |
| 14565 | emxInitStruct_v_robotics_manip_(&localDW->gobj_91, localB); |
| 14566 | emxInitStruct_v_robotics_manip_(&localDW->gobj_90, localB); |
| 14567 | emxInitStruct_v_robotics_manip_(&localDW->gobj_89, localB); |
| 14568 | |
| 14569 | // Start for MATLABSystem: '<S2>/MATLAB System' |
| 14570 | localDW->obj.IKInternal.matlabCodegenIsDeleted = true; |
| 14571 | localDW->obj.matlabCodegenIsDeleted = true; |
| 14572 | localDW->method_m = 7U; |
| 14573 | localDW->method_not_empty = true; |
| 14574 | localDW->state = 1144108930U; |
| 14575 | localDW->state_not_empty = true; |
| 14576 | localDW->state_a[0] = 362436069U; |
| 14577 | localDW->state_a[1] = 521288629U; |
| 14578 | localDW->state_not_empty_k = true; |
| 14579 | cartesian_tr_eml_rand_mt19937ar(localDW->state_e); |
| 14580 | localDW->method_not_empty_k = true; |
| 14581 | localDW->state_not_empty_j = true; |
| 14582 | cartesian_tra_eml_rand_shr3cong(localDW->state_ar); |
| 14583 | localDW->state_not_empty_i = true; |
| 14584 | localDW->obj.isInitialized = 0; |
| 14585 | localDW->obj.matlabCodegenIsDeleted = false; |
| 14586 | localDW->objisempty = true; |
| 14587 | obj = &localDW->obj; |
| 14588 | localDW->obj.isInitialized = 1; |
| 14589 | car_RigidBodyTree_RigidBodyTree(&localDW->obj.TreeInternal, &localDW->gobj_90, |
| 14590 | &localDW->gobj_91, &localDW->gobj_92, &localDW->gobj_93, &localDW->gobj_94, |
| 14591 | &localDW->gobj_95, &localDW->gobj_96, &localDW->gobj_89, localB); |
| 14592 | obj_0 = &localDW->obj.IKInternal; |
| 14593 | localDW->obj.IKInternal.isInitialized = 0; |
| 14594 | inverseKinematics_set_RigidBody(&localDW->obj.IKInternal, &obj->TreeInternal, |
| 14595 | &localDW->gobj_69, &localDW->gobj_70, &localDW->gobj_71, &localDW->gobj_72, |
| 14596 | &localDW->gobj_73, &localDW->gobj_74, &localDW->gobj_75, &localDW->gobj_76, |
| 14597 | &localDW->gobj_77, &localDW->gobj_78, &localDW->gobj_79, &localDW->gobj_80, |
| 14598 | &localDW->gobj_81, &localDW->gobj_82, &localDW->gobj_51, &localDW->gobj_28, |
| 14599 | &localDW->gobj_29, &localDW->gobj_30, &localDW->gobj_31, &localDW->gobj_32, |
| 14600 | &localDW->gobj_33, &localDW->gobj_34, &localDW->gobj_35, &localDW->gobj_36, |
| 14601 | &localDW->gobj_37, &localDW->gobj_38, &localDW->gobj_39, &localDW->gobj_40, |
| 14602 | &localDW->gobj_41, &localDW->gobj_42, &localDW->gobj_43, &localDW->gobj_44, |
| 14603 | &localDW->gobj_45, &localDW->gobj_46, &localDW->gobj_47, &localDW->gobj_48, |
| 14604 | &localDW->gobj_49, &localDW->gobj_50, &localDW->gobj_1, &localDW->gobj_27, |
| 14605 | &localDW->gobj_68, &localDW->gobj_83, localB, localDW); |
| 14606 | obj_0->Solver = DampedBFGSwGradientProjection_D(&localDW->gobj_87); |
| 14607 | obj_1 = obj_0->Solver; |
| 14608 | obj_1->MaxNumIteration = 1500.0; |
| 14609 | obj_1->MaxTime = 10.0; |
| 14610 | obj_1->GradientTolerance = 1.0E-7; |
| 14611 | obj_1->SolutionTolerance = 1.0E-6; |
| 14612 | obj_1->ConstraintsOn = true; |
| 14613 | obj_1->RandomRestart = false; |
| 14614 | obj_1->StepTolerance = 1.0E-14; |
| 14615 | obj_0->matlabCodegenIsDeleted = false; |
| 14616 | } |
| 14617 | |
| 14618 | // |
| 14619 | // Output and update for atomic system: |
| 14620 | // synthesized block |
| 14621 | // synthesized block |
| 14622 | // |
| 14623 | void cartesian_trajecto_MATLABSystem(const real_T rtu_0[16], const real_T rtu_1 |
| 14624 | [6], const real_T rtu_2[6], B_MATLABSystem_cartesian_traj_T *localB, |
| 14625 | DW_MATLABSystem_cartesian_tra_T *localDW) |
| 14626 | { |
| 14627 | robotics_slmanip_internal_blo_T *obj; |
| 14628 | static const char_T tmp[7] = { 's', 'u', 'c', 'c', 'e', 's', 's' }; |
| 14629 | |
| 14630 | int32_T exitg1; |
| 14631 | |
| 14632 | // MATLABSystem: '<S2>/MATLAB System' |
| 14633 | for (localB->i = 0; localB->i < 16; localB->i++) { |
| 14634 | localB->u0[localB->i] = rtu_0[localB->i]; |
| 14635 | } |
| 14636 | |
| 14637 | for (localB->i = 0; localB->i < 6; localB->i++) { |
| 14638 | localB->u1[localB->i] = rtu_1[localB->i]; |
| 14639 | } |
| 14640 | |
| 14641 | for (localB->i = 0; localB->i < 6; localB->i++) { |
| 14642 | localB->u2[localB->i] = rtu_2[localB->i]; |
| 14643 | } |
| 14644 | |
| 14645 | obj = &localDW->obj; |
| 14646 | if (localDW->obj.IKInternal.isInitialized != 1) { |
| 14647 | localDW->obj.IKInternal.isSetupComplete = false; |
| 14648 | localDW->obj.IKInternal.isInitialized = 1; |
| 14649 | car_inverseKinematics_setupImpl(&localDW->obj.IKInternal, &localDW->gobj_85, |
| 14650 | localB); |
| 14651 | obj->IKInternal.isSetupComplete = true; |
| 14652 | } |
| 14653 | |
| 14654 | cart_inverseKinematics_stepImpl(&obj->IKInternal, localB->u0, localB->u1, |
| 14655 | localB->u2, localB->MATLABSystem_o1, &localB->MATLABSystem_o2.Iterations, |
| 14656 | &localB->MATLABSystem_o2.PoseErrorNorm, &localB->b_varargout_2_ExitFlag, |
| 14657 | localB->b_varargout_2_Status_data, localB->b_varargout_2_Status_size, localB, |
| 14658 | localDW); |
| 14659 | for (localB->i = 0; localB->i < 7; localB->i++) { |
| 14660 | localB->b_j[localB->i] = tmp[localB->i]; |
| 14661 | } |
| 14662 | |
| 14663 | localB->b_bool = false; |
| 14664 | if (localB->b_varargout_2_Status_size[1] == 7) { |
| 14665 | localB->i = 1; |
| 14666 | do { |
| 14667 | exitg1 = 0; |
| 14668 | if (localB->i - 1 < 7) { |
| 14669 | localB->kstr = localB->i - 1; |
| 14670 | if (localB->b_varargout_2_Status_data[localB->kstr] != localB-> |
| 14671 | b_j[localB->kstr]) { |
| 14672 | exitg1 = 1; |
| 14673 | } else { |
| 14674 | localB->i++; |
| 14675 | } |
| 14676 | } else { |
| 14677 | localB->b_bool = true; |
| 14678 | exitg1 = 1; |
| 14679 | } |
| 14680 | } while (exitg1 == 0); |
| 14681 | } |
| 14682 | |
| 14683 | localB->b_varargout_2_ExitFlag = rt_roundd_snf(localB->b_varargout_2_ExitFlag); |
| 14684 | if (localB->b_varargout_2_ExitFlag < 65536.0) { |
| 14685 | if (localB->b_varargout_2_ExitFlag >= 0.0) { |
| 14686 | localB->MATLABSystem_o2.ExitFlag = static_cast<uint16_T> |
| 14687 | (localB->b_varargout_2_ExitFlag); |
| 14688 | } else { |
| 14689 | localB->MATLABSystem_o2.ExitFlag = 0U; |
| 14690 | } |
| 14691 | } else { |
| 14692 | localB->MATLABSystem_o2.ExitFlag = MAX_uint16_T; |
| 14693 | } |
| 14694 | |
| 14695 | if (localB->b_bool) { |
| 14696 | localB->MATLABSystem_o2.Status = 1U; |
| 14697 | } else { |
| 14698 | localB->MATLABSystem_o2.Status = 2U; |
| 14699 | } |
| 14700 | |
| 14701 | // End of MATLABSystem: '<S2>/MATLAB System' |
| 14702 | } |
| 14703 | |
| 14704 | // |
| 14705 | // Termination for atomic system: |
| 14706 | // synthesized block |
| 14707 | // synthesized block |
| 14708 | // |
| 14709 | void cartesian_tra_MATLABSystem_Term(DW_MATLABSystem_cartesian_tra_T *localDW) |
| 14710 | { |
| 14711 | // Terminate for MATLABSystem: '<S2>/MATLAB System' |
| 14712 | matlabCodegenHandle_matlabCod_o(&localDW->obj); |
| 14713 | matlabCodegenHandle_matlabCodeg(&localDW->obj.IKInternal); |
| 14714 | emxFreeStruct_robotics_slmanip_(&localDW->obj); |
| 14715 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_1); |
| 14716 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_50); |
| 14717 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_49); |
| 14718 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_48); |
| 14719 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_47); |
| 14720 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_46); |
| 14721 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_45); |
| 14722 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_44); |
| 14723 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_43); |
| 14724 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_42); |
| 14725 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_41); |
| 14726 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_40); |
| 14727 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_39); |
| 14728 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_38); |
| 14729 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_37); |
| 14730 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_36); |
| 14731 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_35); |
| 14732 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_34); |
| 14733 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_33); |
| 14734 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_32); |
| 14735 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_31); |
| 14736 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_30); |
| 14737 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_29); |
| 14738 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_28); |
| 14739 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_27); |
| 14740 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_26); |
| 14741 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_25); |
| 14742 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_24); |
| 14743 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_23); |
| 14744 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_22); |
| 14745 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_21); |
| 14746 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_20); |
| 14747 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_19); |
| 14748 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_18); |
| 14749 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_17); |
| 14750 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_16); |
| 14751 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_15); |
| 14752 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_14); |
| 14753 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_13); |
| 14754 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_12); |
| 14755 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_11); |
| 14756 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_10); |
| 14757 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_9); |
| 14758 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_8); |
| 14759 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_7); |
| 14760 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_6); |
| 14761 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_5); |
| 14762 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_4); |
| 14763 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_3); |
| 14764 | emxFreeStruct_c_rigidBodyJoint(&localDW->gobj_2); |
| 14765 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_51); |
| 14766 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_82); |
| 14767 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_81); |
| 14768 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_80); |
| 14769 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_79); |
| 14770 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_78); |
| 14771 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_77); |
| 14772 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_76); |
| 14773 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_75); |
| 14774 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_74); |
| 14775 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_73); |
| 14776 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_72); |
| 14777 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_71); |
| 14778 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_70); |
| 14779 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_69); |
| 14780 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_68); |
| 14781 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_67); |
| 14782 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_66); |
| 14783 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_65); |
| 14784 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_64); |
| 14785 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_63); |
| 14786 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_62); |
| 14787 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_61); |
| 14788 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_60); |
| 14789 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_59); |
| 14790 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_58); |
| 14791 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_57); |
| 14792 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_56); |
| 14793 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_55); |
| 14794 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_54); |
| 14795 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_53); |
| 14796 | emxFreeStruct_w_robotics_manip_(&localDW->gobj_52); |
| 14797 | emxFreeStruct_x_robotics_manip_(&localDW->gobj_83); |
| 14798 | emxFreeStruct_x_robotics_manip_(&localDW->gobj_84); |
| 14799 | emxFreeStruct_f_robotics_manip_(&localDW->gobj_85); |
| 14800 | emxFreeStruct_h_robotics_core_i(&localDW->gobj_86); |
| 14801 | emxFreeStruct_h_robotics_core_i(&localDW->gobj_87); |
| 14802 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_88); |
| 14803 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_103); |
| 14804 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_102); |
| 14805 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_101); |
| 14806 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_100); |
| 14807 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_99); |
| 14808 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_98); |
| 14809 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_97); |
| 14810 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_96); |
| 14811 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_95); |
| 14812 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_94); |
| 14813 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_93); |
| 14814 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_92); |
| 14815 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_91); |
| 14816 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_90); |
| 14817 | emxFreeStruct_v_robotics_manip_(&localDW->gobj_89); |
| 14818 | } |
| 14819 | |
| 14820 | // |
| 14821 | // System initialize for atomic system: |
| 14822 | // synthesized block |
| 14823 | // synthesized block |
| 14824 | // |
| 14825 | void CoordinateTransformationCo_Init(DW_CoordinateTransformationCo_T *localDW) |
| 14826 | { |
| 14827 | // Start for MATLABSystem: '<S12>/Coordinate Transformation Conversion' |
| 14828 | localDW->objisempty = true; |
| 14829 | localDW->obj.isInitialized = 1; |
| 14830 | } |
| 14831 | |
| 14832 | // |
| 14833 | // Output and update for atomic system: |
| 14834 | // synthesized block |
| 14835 | // synthesized block |
| 14836 | // |
| 14837 | void CoordinateTransformationConvers(const real_T rtu_0[4], const real_T rtu_1[3], |
| 14838 | B_CoordinateTransformationCon_T *localB) |
| 14839 | { |
| 14840 | int32_T b_k; |
| 14841 | real_T u0_idx_2; |
| 14842 | real_T u0_idx_3; |
| 14843 | int32_T subsa_idx_1; |
| 14844 | real_T tempR_tmp; |
| 14845 | real_T tempR_tmp_0; |
| 14846 | real_T tempR_tmp_1; |
| 14847 | real_T tempR_tmp_2; |
| 14848 | real_T tempR_tmp_3; |
| 14849 | |
| 14850 | // MATLABSystem: '<S12>/Coordinate Transformation Conversion' |
| 14851 | localB->u0_idx_0 = rtu_0[0]; |
| 14852 | localB->u0_idx_1 = rtu_0[1]; |
| 14853 | u0_idx_2 = rtu_0[2]; |
| 14854 | u0_idx_3 = rtu_0[3]; |
| 14855 | localB->u1[0] = rtu_1[0]; |
| 14856 | localB->u1[1] = rtu_1[1]; |
| 14857 | localB->u1[2] = rtu_1[2]; |
| 14858 | localB->b = 1.0 / sqrt(((localB->u0_idx_0 * localB->u0_idx_0 + |
| 14859 | localB->u0_idx_1 * localB->u0_idx_1) + u0_idx_2 * u0_idx_2) + u0_idx_3 * |
| 14860 | u0_idx_3); |
| 14861 | localB->u0_idx_0 *= localB->b; |
| 14862 | localB->u0_idx_1 *= localB->b; |
| 14863 | u0_idx_2 *= localB->b; |
| 14864 | u0_idx_3 *= localB->b; |
| 14865 | localB->b = u0_idx_3 * u0_idx_3; |
| 14866 | tempR_tmp_3 = u0_idx_2 * u0_idx_2; |
| 14867 | localB->tempR[0] = 1.0 - (tempR_tmp_3 + localB->b) * 2.0; |
| 14868 | tempR_tmp = localB->u0_idx_1 * u0_idx_2; |
| 14869 | tempR_tmp_0 = localB->u0_idx_0 * u0_idx_3; |
| 14870 | localB->tempR[1] = (tempR_tmp - tempR_tmp_0) * 2.0; |
| 14871 | tempR_tmp_1 = localB->u0_idx_1 * u0_idx_3; |
| 14872 | tempR_tmp_2 = localB->u0_idx_0 * u0_idx_2; |
| 14873 | localB->tempR[2] = (tempR_tmp_1 + tempR_tmp_2) * 2.0; |
| 14874 | localB->tempR[3] = (tempR_tmp + tempR_tmp_0) * 2.0; |
| 14875 | tempR_tmp = localB->u0_idx_1 * localB->u0_idx_1; |
| 14876 | localB->tempR[4] = 1.0 - (tempR_tmp + localB->b) * 2.0; |
| 14877 | localB->b = u0_idx_2 * u0_idx_3; |
| 14878 | tempR_tmp_0 = localB->u0_idx_0 * localB->u0_idx_1; |
| 14879 | localB->tempR[5] = (localB->b - tempR_tmp_0) * 2.0; |
| 14880 | localB->tempR[6] = (tempR_tmp_1 - tempR_tmp_2) * 2.0; |
| 14881 | localB->tempR[7] = (localB->b + tempR_tmp_0) * 2.0; |
| 14882 | localB->tempR[8] = 1.0 - (tempR_tmp + tempR_tmp_3) * 2.0; |
| 14883 | for (b_k = 0; b_k < 3; b_k++) { |
| 14884 | subsa_idx_1 = b_k + 1; |
| 14885 | localB->R[subsa_idx_1 - 1] = localB->tempR[(subsa_idx_1 - 1) * 3]; |
| 14886 | subsa_idx_1 = b_k + 1; |
| 14887 | localB->R[subsa_idx_1 + 2] = localB->tempR[(subsa_idx_1 - 1) * 3 + 1]; |
| 14888 | subsa_idx_1 = b_k + 1; |
| 14889 | localB->R[subsa_idx_1 + 5] = localB->tempR[(subsa_idx_1 - 1) * 3 + 2]; |
| 14890 | } |
| 14891 | |
| 14892 | memset(&localB->CoordinateTransformationConve_g[0], 0, sizeof(real_T) << 4U); |
| 14893 | localB->CoordinateTransformationConve_g[15] = 1.0; |
| 14894 | for (b_k = 0; b_k < 3; b_k++) { |
| 14895 | subsa_idx_1 = b_k << 2; |
| 14896 | localB->CoordinateTransformationConve_g[subsa_idx_1] = localB->R[3 * b_k]; |
| 14897 | localB->CoordinateTransformationConve_g[subsa_idx_1 + 1] = localB->R[3 * b_k |
| 14898 | + 1]; |
| 14899 | localB->CoordinateTransformationConve_g[subsa_idx_1 + 2] = localB->R[3 * b_k |
| 14900 | + 2]; |
| 14901 | localB->CoordinateTransformationConve_g[b_k + 12] = localB->u1[b_k]; |
| 14902 | } |
| 14903 | |
| 14904 | // End of MATLABSystem: '<S12>/Coordinate Transformation Conversion' |
| 14905 | } |
| 14906 | |
| 14907 | static c_robotics_core_internal_code_T *NameValueParser_NameValueParser |
| 14908 | (c_robotics_core_internal_code_T *obj) |
| 14909 | { |
| 14910 | return obj; |
| 14911 | } |
| 14912 | |
| 14913 | static void cartesian__computeProfileParams(real_T i, const real_T wayPoints[12], |
| 14914 | const real_T Vel[6], const real_T Acc_data[], real_T *vParam, real_T *aParam, |
| 14915 | real_T *tAParam, real_T *tFParam) |
| 14916 | { |
| 14917 | cartesian_trajectory_planner__B.s0_tmp = static_cast<int32_T>(i); |
| 14918 | cartesian_trajectory_planner__B.s0_tmp_e = |
| 14919 | cartesian_trajectory_planner__B.s0_tmp - 1; |
| 14920 | cartesian_trajectory_planner__B.s0 = |
| 14921 | wayPoints[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14922 | cartesian_trajectory_planner__B.s0_tmp += 5; |
| 14923 | cartesian_trajectory_planner__B.sF = |
| 14924 | wayPoints[cartesian_trajectory_planner__B.s0_tmp]; |
| 14925 | cartesian_trajectory_planner__B.deltaSign = 1; |
| 14926 | if (wayPoints[cartesian_trajectory_planner__B.s0_tmp] < |
| 14927 | wayPoints[cartesian_trajectory_planner__B.s0_tmp_e]) { |
| 14928 | cartesian_trajectory_planner__B.s0 = |
| 14929 | wayPoints[cartesian_trajectory_planner__B.s0_tmp]; |
| 14930 | cartesian_trajectory_planner__B.sF = |
| 14931 | wayPoints[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14932 | cartesian_trajectory_planner__B.deltaSign = -1; |
| 14933 | } |
| 14934 | |
| 14935 | *vParam = Vel[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14936 | *aParam = Acc_data[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14937 | *tAParam = Vel[cartesian_trajectory_planner__B.s0_tmp_e] / |
| 14938 | Acc_data[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14939 | *tFParam = ((Vel[cartesian_trajectory_planner__B.s0_tmp_e] * *tAParam + |
| 14940 | cartesian_trajectory_planner__B.sF) - |
| 14941 | cartesian_trajectory_planner__B.s0) / |
| 14942 | Vel[cartesian_trajectory_planner__B.s0_tmp_e]; |
| 14943 | if (cartesian_trajectory_planner__B.s0 == cartesian_trajectory_planner__B.sF) |
| 14944 | { |
| 14945 | *aParam = 0.0; |
| 14946 | *vParam = 0.0; |
| 14947 | if (rtIsNaN(*tFParam) || (*tFParam == 0.0)) { |
| 14948 | *tFParam = 1.0; |
| 14949 | } |
| 14950 | |
| 14951 | *tAParam = *tFParam / 3.0; |
| 14952 | } |
| 14953 | |
| 14954 | *vParam *= static_cast<real_T>(cartesian_trajectory_planner__B.deltaSign); |
| 14955 | *aParam *= static_cast<real_T>(cartesian_trajectory_planner__B.deltaSign); |
| 14956 | } |
| 14957 | |
| 14958 | static void c_computeScalarLSPBCoefficients(real_T s0, real_T sF, real_T v, |
| 14959 | real_T a, real_T ta, real_T tf, real_T coefs[9], real_T breaks[4]) |
| 14960 | { |
| 14961 | breaks[0] = 0.0; |
| 14962 | breaks[1] = ta; |
| 14963 | breaks[2] = tf - ta; |
| 14964 | breaks[3] = tf; |
| 14965 | memset(&coefs[0], 0, 9U * sizeof(real_T)); |
| 14966 | if (v == 0.0) { |
| 14967 | coefs[6] = s0; |
| 14968 | coefs[7] = s0; |
| 14969 | coefs[8] = s0; |
| 14970 | } else { |
| 14971 | coefs[0] = a / 2.0; |
| 14972 | coefs[3] = 0.0; |
| 14973 | coefs[6] = s0; |
| 14974 | coefs[1] = 0.0; |
| 14975 | coefs[4] = v; |
| 14976 | cartesian_trajectory_planner__B.coefs_tmp = a / 2.0 * (ta * ta); |
| 14977 | coefs[7] = cartesian_trajectory_planner__B.coefs_tmp + s0; |
| 14978 | coefs[2] = -a / 2.0; |
| 14979 | coefs[5] = v; |
| 14980 | coefs[8] = (cartesian_trajectory_planner__B.coefs_tmp + sF) - v * ta; |
| 14981 | } |
| 14982 | } |
| 14983 | |
| 14984 | static boolean_T cart_checkPolyForMultipleBreaks(const real_T breakMat[24]) |
| 14985 | { |
| 14986 | boolean_T hasMultipleBreaks; |
| 14987 | boolean_T exitg1; |
| 14988 | hasMultipleBreaks = false; |
| 14989 | for (cartesian_trajectory_planner__B.b_i_c = 0; |
| 14990 | cartesian_trajectory_planner__B.b_i_c < 5; |
| 14991 | cartesian_trajectory_planner__B.b_i_c++) { |
| 14992 | cartesian_trajectory_planner__B.b_i_f = |
| 14993 | cartesian_trajectory_planner__B.b_i_c + 1; |
| 14994 | cartesian_trajectory_planner__B.y[0] = fabs |
| 14995 | (breakMat[cartesian_trajectory_planner__B.b_i_f - 1] - |
| 14996 | breakMat[cartesian_trajectory_planner__B.b_i_c + 1]); |
| 14997 | cartesian_trajectory_planner__B.y[1] = fabs |
| 14998 | (breakMat[cartesian_trajectory_planner__B.b_i_f + 5] - |
| 14999 | breakMat[cartesian_trajectory_planner__B.b_i_c + 7]); |
| 15000 | cartesian_trajectory_planner__B.y[2] = fabs |
| 15001 | (breakMat[cartesian_trajectory_planner__B.b_i_f + 11] - |
| 15002 | breakMat[cartesian_trajectory_planner__B.b_i_c + 13]); |
| 15003 | cartesian_trajectory_planner__B.y[3] = fabs |
| 15004 | (breakMat[cartesian_trajectory_planner__B.b_i_f + 17] - |
| 15005 | breakMat[cartesian_trajectory_planner__B.b_i_c + 19]); |
| 15006 | cartesian_trajectory_planner__B.y_l = false; |
| 15007 | cartesian_trajectory_planner__B.b_i_f = 0; |
| 15008 | exitg1 = false; |
| 15009 | while ((!exitg1) && (cartesian_trajectory_planner__B.b_i_f < 4)) { |
| 15010 | if (!(cartesian_trajectory_planner__B.y[cartesian_trajectory_planner__B.b_i_f] |
| 15011 | > 2.2204460492503131E-16)) { |
| 15012 | cartesian_trajectory_planner__B.b_i_f++; |
| 15013 | } else { |
| 15014 | cartesian_trajectory_planner__B.y_l = true; |
| 15015 | exitg1 = true; |
| 15016 | } |
| 15017 | } |
| 15018 | |
| 15019 | if (cartesian_trajectory_planner__B.y_l || hasMultipleBreaks) { |
| 15020 | hasMultipleBreaks = true; |
| 15021 | } else { |
| 15022 | hasMultipleBreaks = false; |
| 15023 | } |
| 15024 | } |
| 15025 | |
| 15026 | return hasMultipleBreaks; |
| 15027 | } |
| 15028 | |
| 15029 | static void cartes_processPolynomialResults(const real_T breakMat[24], const |
| 15030 | real_T coeffMat[54], boolean_T hasMultipleBreaks, |
| 15031 | f_cell_wrap_cartesian_traject_T breaksCell[6], g_cell_wrap_cartesian_traject_T |
| 15032 | coeffCell[6]) |
| 15033 | { |
| 15034 | boolean_T exitg1; |
| 15035 | if (!rtIsNaN(breakMat[18])) { |
| 15036 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15037 | } else { |
| 15038 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15039 | cartesian_trajectory_planner__B.k = 2; |
| 15040 | exitg1 = false; |
| 15041 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 7)) { |
| 15042 | if (!rtIsNaN(breakMat[cartesian_trajectory_planner__B.k + 17])) { |
| 15043 | cartesian_trajectory_planner__B.b_idx_m = |
| 15044 | cartesian_trajectory_planner__B.k; |
| 15045 | exitg1 = true; |
| 15046 | } else { |
| 15047 | cartesian_trajectory_planner__B.k++; |
| 15048 | } |
| 15049 | } |
| 15050 | } |
| 15051 | |
| 15052 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15053 | cartesian_trajectory_planner__B.maxBreaksTime = breakMat[18]; |
| 15054 | } else { |
| 15055 | cartesian_trajectory_planner__B.maxBreaksTime = |
| 15056 | breakMat[cartesian_trajectory_planner__B.b_idx_m + 17]; |
| 15057 | for (cartesian_trajectory_planner__B.k = |
| 15058 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15059 | cartesian_trajectory_planner__B.k < 7; |
| 15060 | cartesian_trajectory_planner__B.k++) { |
| 15061 | cartesian_trajectory_planner__B.holdTime_o = |
| 15062 | breakMat[cartesian_trajectory_planner__B.k + 17]; |
| 15063 | if (cartesian_trajectory_planner__B.maxBreaksTime < |
| 15064 | cartesian_trajectory_planner__B.holdTime_o) { |
| 15065 | cartesian_trajectory_planner__B.maxBreaksTime = |
| 15066 | cartesian_trajectory_planner__B.holdTime_o; |
| 15067 | } |
| 15068 | } |
| 15069 | } |
| 15070 | |
| 15071 | if (hasMultipleBreaks) { |
| 15072 | if (!rtIsNaN(breakMat[0])) { |
| 15073 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15074 | } else { |
| 15075 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15076 | cartesian_trajectory_planner__B.k = 2; |
| 15077 | exitg1 = false; |
| 15078 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15079 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6])) { |
| 15080 | cartesian_trajectory_planner__B.b_idx_m = |
| 15081 | cartesian_trajectory_planner__B.k; |
| 15082 | exitg1 = true; |
| 15083 | } else { |
| 15084 | cartesian_trajectory_planner__B.k++; |
| 15085 | } |
| 15086 | } |
| 15087 | } |
| 15088 | |
| 15089 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15090 | cartesian_trajectory_planner__B.holdTime_o = breakMat[0]; |
| 15091 | } else { |
| 15092 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15093 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6]; |
| 15094 | for (cartesian_trajectory_planner__B.k = |
| 15095 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15096 | cartesian_trajectory_planner__B.k < 5; |
| 15097 | cartesian_trajectory_planner__B.k++) { |
| 15098 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15099 | - 1) * 6; |
| 15100 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15101 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15102 | cartesian_trajectory_planner__B.holdTime_o = |
| 15103 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15104 | } |
| 15105 | } |
| 15106 | } |
| 15107 | |
| 15108 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15109 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15110 | breaksCell[0].f1.size[0] = 1; |
| 15111 | breaksCell[0].f1.size[1] = 5; |
| 15112 | breaksCell[0].f1.data[0] = breakMat[0]; |
| 15113 | breaksCell[0].f1.data[1] = breakMat[6]; |
| 15114 | breaksCell[0].f1.data[2] = breakMat[12]; |
| 15115 | breaksCell[0].f1.data[3] = breakMat[18]; |
| 15116 | breaksCell[0].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15117 | cartesian_trajectory_planner__B.holdTime_o = breakMat[18] - breakMat[12]; |
| 15118 | cartesian_trajectory_planner__B.k = 4; |
| 15119 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15120 | (real_T)); |
| 15121 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15122 | cartesian_trajectory_planner__B.holdTime_o * |
| 15123 | cartesian_trajectory_planner__B.holdTime_o; |
| 15124 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15125 | cartesian_trajectory_planner__B.holdTime_o; |
| 15126 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15127 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15128 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15129 | cartesian_trajectory_planner__B.i_m < 3; |
| 15130 | cartesian_trajectory_planner__B.i_m++) { |
| 15131 | cartesian_trajectory_planner__B.b_idx_m = |
| 15132 | cartesian_trajectory_planner__B.i_m << 2; |
| 15133 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15134 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m]; |
| 15135 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15136 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 6]; |
| 15137 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15138 | cartesian_trajectory_planner__B.i_m + 12; |
| 15139 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15140 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15141 | cartesian_trajectory_planner__B.holdTime_o += |
| 15142 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15143 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15144 | } |
| 15145 | |
| 15146 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15147 | cartesian_trajectory_planner__B.holdTime_o; |
| 15148 | } else { |
| 15149 | cartesian_trajectory_planner__B.k = 3; |
| 15150 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15151 | cartesian_trajectory_planner__B.i_m < 3; |
| 15152 | cartesian_trajectory_planner__B.i_m++) { |
| 15153 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15154 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15155 | cartesian_trajectory_planner__B.i_m]; |
| 15156 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15157 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15158 | cartesian_trajectory_planner__B.i_m + 6]; |
| 15159 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15160 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15161 | cartesian_trajectory_planner__B.i_m + 12]; |
| 15162 | } |
| 15163 | |
| 15164 | breaksCell[0].f1.size[0] = 1; |
| 15165 | breaksCell[0].f1.size[1] = 4; |
| 15166 | breaksCell[0].f1.data[0] = breakMat[0]; |
| 15167 | breaksCell[0].f1.data[1] = breakMat[6]; |
| 15168 | breaksCell[0].f1.data[2] = breakMat[12]; |
| 15169 | breaksCell[0].f1.data[3] = breakMat[18]; |
| 15170 | } |
| 15171 | |
| 15172 | coeffCell[0].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15173 | coeffCell[0].f1.size[1] = 3; |
| 15174 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15175 | 1; |
| 15176 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15177 | cartesian_trajectory_planner__B.i_m <= |
| 15178 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15179 | ++) { |
| 15180 | coeffCell[0].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15181 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15182 | } |
| 15183 | |
| 15184 | if (!rtIsNaN(breakMat[1])) { |
| 15185 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15186 | } else { |
| 15187 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15188 | cartesian_trajectory_planner__B.k = 2; |
| 15189 | exitg1 = false; |
| 15190 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15191 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6 + 1])) |
| 15192 | { |
| 15193 | cartesian_trajectory_planner__B.b_idx_m = |
| 15194 | cartesian_trajectory_planner__B.k; |
| 15195 | exitg1 = true; |
| 15196 | } else { |
| 15197 | cartesian_trajectory_planner__B.k++; |
| 15198 | } |
| 15199 | } |
| 15200 | } |
| 15201 | |
| 15202 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15203 | cartesian_trajectory_planner__B.holdTime_o = breakMat[1]; |
| 15204 | } else { |
| 15205 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15206 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6 + 1]; |
| 15207 | for (cartesian_trajectory_planner__B.k = |
| 15208 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15209 | cartesian_trajectory_planner__B.k < 5; |
| 15210 | cartesian_trajectory_planner__B.k++) { |
| 15211 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15212 | - 1) * 6 + 1; |
| 15213 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15214 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15215 | cartesian_trajectory_planner__B.holdTime_o = |
| 15216 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15217 | } |
| 15218 | } |
| 15219 | } |
| 15220 | |
| 15221 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15222 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15223 | breaksCell[1].f1.size[0] = 1; |
| 15224 | breaksCell[1].f1.size[1] = 5; |
| 15225 | breaksCell[1].f1.data[0] = breakMat[1]; |
| 15226 | breaksCell[1].f1.data[1] = breakMat[7]; |
| 15227 | breaksCell[1].f1.data[2] = breakMat[13]; |
| 15228 | breaksCell[1].f1.data[3] = breakMat[19]; |
| 15229 | breaksCell[1].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15230 | cartesian_trajectory_planner__B.holdTime_o = breakMat[19] - breakMat[13]; |
| 15231 | cartesian_trajectory_planner__B.k = 4; |
| 15232 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15233 | (real_T)); |
| 15234 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15235 | cartesian_trajectory_planner__B.holdTime_o * |
| 15236 | cartesian_trajectory_planner__B.holdTime_o; |
| 15237 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15238 | cartesian_trajectory_planner__B.holdTime_o; |
| 15239 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15240 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15241 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15242 | cartesian_trajectory_planner__B.i_m < 3; |
| 15243 | cartesian_trajectory_planner__B.i_m++) { |
| 15244 | cartesian_trajectory_planner__B.b_idx_m = |
| 15245 | cartesian_trajectory_planner__B.i_m << 2; |
| 15246 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15247 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 1]; |
| 15248 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15249 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 7]; |
| 15250 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15251 | cartesian_trajectory_planner__B.i_m + 13; |
| 15252 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15253 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15254 | cartesian_trajectory_planner__B.holdTime_o += |
| 15255 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15256 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15257 | } |
| 15258 | |
| 15259 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15260 | cartesian_trajectory_planner__B.holdTime_o; |
| 15261 | } else { |
| 15262 | cartesian_trajectory_planner__B.k = 3; |
| 15263 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15264 | cartesian_trajectory_planner__B.i_m < 3; |
| 15265 | cartesian_trajectory_planner__B.i_m++) { |
| 15266 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15267 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15268 | cartesian_trajectory_planner__B.i_m + 1]; |
| 15269 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15270 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15271 | cartesian_trajectory_planner__B.i_m + 7]; |
| 15272 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15273 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15274 | cartesian_trajectory_planner__B.i_m + 13]; |
| 15275 | } |
| 15276 | |
| 15277 | breaksCell[1].f1.size[0] = 1; |
| 15278 | breaksCell[1].f1.size[1] = 4; |
| 15279 | breaksCell[1].f1.data[0] = breakMat[1]; |
| 15280 | breaksCell[1].f1.data[1] = breakMat[7]; |
| 15281 | breaksCell[1].f1.data[2] = breakMat[13]; |
| 15282 | breaksCell[1].f1.data[3] = breakMat[19]; |
| 15283 | } |
| 15284 | |
| 15285 | coeffCell[1].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15286 | coeffCell[1].f1.size[1] = 3; |
| 15287 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15288 | 1; |
| 15289 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15290 | cartesian_trajectory_planner__B.i_m <= |
| 15291 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15292 | ++) { |
| 15293 | coeffCell[1].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15294 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15295 | } |
| 15296 | |
| 15297 | if (!rtIsNaN(breakMat[2])) { |
| 15298 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15299 | } else { |
| 15300 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15301 | cartesian_trajectory_planner__B.k = 2; |
| 15302 | exitg1 = false; |
| 15303 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15304 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6 + 2])) |
| 15305 | { |
| 15306 | cartesian_trajectory_planner__B.b_idx_m = |
| 15307 | cartesian_trajectory_planner__B.k; |
| 15308 | exitg1 = true; |
| 15309 | } else { |
| 15310 | cartesian_trajectory_planner__B.k++; |
| 15311 | } |
| 15312 | } |
| 15313 | } |
| 15314 | |
| 15315 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15316 | cartesian_trajectory_planner__B.holdTime_o = breakMat[2]; |
| 15317 | } else { |
| 15318 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15319 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6 + 2]; |
| 15320 | for (cartesian_trajectory_planner__B.k = |
| 15321 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15322 | cartesian_trajectory_planner__B.k < 5; |
| 15323 | cartesian_trajectory_planner__B.k++) { |
| 15324 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15325 | - 1) * 6 + 2; |
| 15326 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15327 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15328 | cartesian_trajectory_planner__B.holdTime_o = |
| 15329 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15330 | } |
| 15331 | } |
| 15332 | } |
| 15333 | |
| 15334 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15335 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15336 | breaksCell[2].f1.size[0] = 1; |
| 15337 | breaksCell[2].f1.size[1] = 5; |
| 15338 | breaksCell[2].f1.data[0] = breakMat[2]; |
| 15339 | breaksCell[2].f1.data[1] = breakMat[8]; |
| 15340 | breaksCell[2].f1.data[2] = breakMat[14]; |
| 15341 | breaksCell[2].f1.data[3] = breakMat[20]; |
| 15342 | breaksCell[2].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15343 | cartesian_trajectory_planner__B.holdTime_o = breakMat[20] - breakMat[14]; |
| 15344 | cartesian_trajectory_planner__B.k = 4; |
| 15345 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15346 | (real_T)); |
| 15347 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15348 | cartesian_trajectory_planner__B.holdTime_o * |
| 15349 | cartesian_trajectory_planner__B.holdTime_o; |
| 15350 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15351 | cartesian_trajectory_planner__B.holdTime_o; |
| 15352 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15353 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15354 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15355 | cartesian_trajectory_planner__B.i_m < 3; |
| 15356 | cartesian_trajectory_planner__B.i_m++) { |
| 15357 | cartesian_trajectory_planner__B.b_idx_m = |
| 15358 | cartesian_trajectory_planner__B.i_m << 2; |
| 15359 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15360 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 2]; |
| 15361 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15362 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 8]; |
| 15363 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15364 | cartesian_trajectory_planner__B.i_m + 14; |
| 15365 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15366 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15367 | cartesian_trajectory_planner__B.holdTime_o += |
| 15368 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15369 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15370 | } |
| 15371 | |
| 15372 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15373 | cartesian_trajectory_planner__B.holdTime_o; |
| 15374 | } else { |
| 15375 | cartesian_trajectory_planner__B.k = 3; |
| 15376 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15377 | cartesian_trajectory_planner__B.i_m < 3; |
| 15378 | cartesian_trajectory_planner__B.i_m++) { |
| 15379 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15380 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15381 | cartesian_trajectory_planner__B.i_m + 2]; |
| 15382 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15383 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15384 | cartesian_trajectory_planner__B.i_m + 8]; |
| 15385 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15386 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15387 | cartesian_trajectory_planner__B.i_m + 14]; |
| 15388 | } |
| 15389 | |
| 15390 | breaksCell[2].f1.size[0] = 1; |
| 15391 | breaksCell[2].f1.size[1] = 4; |
| 15392 | breaksCell[2].f1.data[0] = breakMat[2]; |
| 15393 | breaksCell[2].f1.data[1] = breakMat[8]; |
| 15394 | breaksCell[2].f1.data[2] = breakMat[14]; |
| 15395 | breaksCell[2].f1.data[3] = breakMat[20]; |
| 15396 | } |
| 15397 | |
| 15398 | coeffCell[2].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15399 | coeffCell[2].f1.size[1] = 3; |
| 15400 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15401 | 1; |
| 15402 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15403 | cartesian_trajectory_planner__B.i_m <= |
| 15404 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15405 | ++) { |
| 15406 | coeffCell[2].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15407 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15408 | } |
| 15409 | |
| 15410 | if (!rtIsNaN(breakMat[3])) { |
| 15411 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15412 | } else { |
| 15413 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15414 | cartesian_trajectory_planner__B.k = 2; |
| 15415 | exitg1 = false; |
| 15416 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15417 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6 + 3])) |
| 15418 | { |
| 15419 | cartesian_trajectory_planner__B.b_idx_m = |
| 15420 | cartesian_trajectory_planner__B.k; |
| 15421 | exitg1 = true; |
| 15422 | } else { |
| 15423 | cartesian_trajectory_planner__B.k++; |
| 15424 | } |
| 15425 | } |
| 15426 | } |
| 15427 | |
| 15428 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15429 | cartesian_trajectory_planner__B.holdTime_o = breakMat[3]; |
| 15430 | } else { |
| 15431 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15432 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6 + 3]; |
| 15433 | for (cartesian_trajectory_planner__B.k = |
| 15434 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15435 | cartesian_trajectory_planner__B.k < 5; |
| 15436 | cartesian_trajectory_planner__B.k++) { |
| 15437 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15438 | - 1) * 6 + 3; |
| 15439 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15440 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15441 | cartesian_trajectory_planner__B.holdTime_o = |
| 15442 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15443 | } |
| 15444 | } |
| 15445 | } |
| 15446 | |
| 15447 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15448 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15449 | breaksCell[3].f1.size[0] = 1; |
| 15450 | breaksCell[3].f1.size[1] = 5; |
| 15451 | breaksCell[3].f1.data[0] = breakMat[3]; |
| 15452 | breaksCell[3].f1.data[1] = breakMat[9]; |
| 15453 | breaksCell[3].f1.data[2] = breakMat[15]; |
| 15454 | breaksCell[3].f1.data[3] = breakMat[21]; |
| 15455 | breaksCell[3].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15456 | cartesian_trajectory_planner__B.holdTime_o = breakMat[21] - breakMat[15]; |
| 15457 | cartesian_trajectory_planner__B.k = 4; |
| 15458 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15459 | (real_T)); |
| 15460 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15461 | cartesian_trajectory_planner__B.holdTime_o * |
| 15462 | cartesian_trajectory_planner__B.holdTime_o; |
| 15463 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15464 | cartesian_trajectory_planner__B.holdTime_o; |
| 15465 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15466 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15467 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15468 | cartesian_trajectory_planner__B.i_m < 3; |
| 15469 | cartesian_trajectory_planner__B.i_m++) { |
| 15470 | cartesian_trajectory_planner__B.b_idx_m = |
| 15471 | cartesian_trajectory_planner__B.i_m << 2; |
| 15472 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15473 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 3]; |
| 15474 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15475 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 9]; |
| 15476 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15477 | cartesian_trajectory_planner__B.i_m + 15; |
| 15478 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15479 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15480 | cartesian_trajectory_planner__B.holdTime_o += |
| 15481 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15482 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15483 | } |
| 15484 | |
| 15485 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15486 | cartesian_trajectory_planner__B.holdTime_o; |
| 15487 | } else { |
| 15488 | cartesian_trajectory_planner__B.k = 3; |
| 15489 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15490 | cartesian_trajectory_planner__B.i_m < 3; |
| 15491 | cartesian_trajectory_planner__B.i_m++) { |
| 15492 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15493 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15494 | cartesian_trajectory_planner__B.i_m + 3]; |
| 15495 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15496 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15497 | cartesian_trajectory_planner__B.i_m + 9]; |
| 15498 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15499 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15500 | cartesian_trajectory_planner__B.i_m + 15]; |
| 15501 | } |
| 15502 | |
| 15503 | breaksCell[3].f1.size[0] = 1; |
| 15504 | breaksCell[3].f1.size[1] = 4; |
| 15505 | breaksCell[3].f1.data[0] = breakMat[3]; |
| 15506 | breaksCell[3].f1.data[1] = breakMat[9]; |
| 15507 | breaksCell[3].f1.data[2] = breakMat[15]; |
| 15508 | breaksCell[3].f1.data[3] = breakMat[21]; |
| 15509 | } |
| 15510 | |
| 15511 | coeffCell[3].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15512 | coeffCell[3].f1.size[1] = 3; |
| 15513 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15514 | 1; |
| 15515 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15516 | cartesian_trajectory_planner__B.i_m <= |
| 15517 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15518 | ++) { |
| 15519 | coeffCell[3].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15520 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15521 | } |
| 15522 | |
| 15523 | if (!rtIsNaN(breakMat[4])) { |
| 15524 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15525 | } else { |
| 15526 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15527 | cartesian_trajectory_planner__B.k = 2; |
| 15528 | exitg1 = false; |
| 15529 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15530 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6 + 4])) |
| 15531 | { |
| 15532 | cartesian_trajectory_planner__B.b_idx_m = |
| 15533 | cartesian_trajectory_planner__B.k; |
| 15534 | exitg1 = true; |
| 15535 | } else { |
| 15536 | cartesian_trajectory_planner__B.k++; |
| 15537 | } |
| 15538 | } |
| 15539 | } |
| 15540 | |
| 15541 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15542 | cartesian_trajectory_planner__B.holdTime_o = breakMat[4]; |
| 15543 | } else { |
| 15544 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15545 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6 + 4]; |
| 15546 | for (cartesian_trajectory_planner__B.k = |
| 15547 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15548 | cartesian_trajectory_planner__B.k < 5; |
| 15549 | cartesian_trajectory_planner__B.k++) { |
| 15550 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15551 | - 1) * 6 + 4; |
| 15552 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15553 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15554 | cartesian_trajectory_planner__B.holdTime_o = |
| 15555 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15556 | } |
| 15557 | } |
| 15558 | } |
| 15559 | |
| 15560 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15561 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15562 | breaksCell[4].f1.size[0] = 1; |
| 15563 | breaksCell[4].f1.size[1] = 5; |
| 15564 | breaksCell[4].f1.data[0] = breakMat[4]; |
| 15565 | breaksCell[4].f1.data[1] = breakMat[10]; |
| 15566 | breaksCell[4].f1.data[2] = breakMat[16]; |
| 15567 | breaksCell[4].f1.data[3] = breakMat[22]; |
| 15568 | breaksCell[4].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15569 | cartesian_trajectory_planner__B.holdTime_o = breakMat[22] - breakMat[16]; |
| 15570 | cartesian_trajectory_planner__B.k = 4; |
| 15571 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15572 | (real_T)); |
| 15573 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15574 | cartesian_trajectory_planner__B.holdTime_o * |
| 15575 | cartesian_trajectory_planner__B.holdTime_o; |
| 15576 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15577 | cartesian_trajectory_planner__B.holdTime_o; |
| 15578 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15579 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15580 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15581 | cartesian_trajectory_planner__B.i_m < 3; |
| 15582 | cartesian_trajectory_planner__B.i_m++) { |
| 15583 | cartesian_trajectory_planner__B.b_idx_m = |
| 15584 | cartesian_trajectory_planner__B.i_m << 2; |
| 15585 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15586 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 4]; |
| 15587 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15588 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 10]; |
| 15589 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15590 | cartesian_trajectory_planner__B.i_m + 16; |
| 15591 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15592 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15593 | cartesian_trajectory_planner__B.holdTime_o += |
| 15594 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15595 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15596 | } |
| 15597 | |
| 15598 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15599 | cartesian_trajectory_planner__B.holdTime_o; |
| 15600 | } else { |
| 15601 | cartesian_trajectory_planner__B.k = 3; |
| 15602 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15603 | cartesian_trajectory_planner__B.i_m < 3; |
| 15604 | cartesian_trajectory_planner__B.i_m++) { |
| 15605 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15606 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15607 | cartesian_trajectory_planner__B.i_m + 4]; |
| 15608 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15609 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15610 | cartesian_trajectory_planner__B.i_m + 10]; |
| 15611 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15612 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15613 | cartesian_trajectory_planner__B.i_m + 16]; |
| 15614 | } |
| 15615 | |
| 15616 | breaksCell[4].f1.size[0] = 1; |
| 15617 | breaksCell[4].f1.size[1] = 4; |
| 15618 | breaksCell[4].f1.data[0] = breakMat[4]; |
| 15619 | breaksCell[4].f1.data[1] = breakMat[10]; |
| 15620 | breaksCell[4].f1.data[2] = breakMat[16]; |
| 15621 | breaksCell[4].f1.data[3] = breakMat[22]; |
| 15622 | } |
| 15623 | |
| 15624 | coeffCell[4].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15625 | coeffCell[4].f1.size[1] = 3; |
| 15626 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15627 | 1; |
| 15628 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15629 | cartesian_trajectory_planner__B.i_m <= |
| 15630 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15631 | ++) { |
| 15632 | coeffCell[4].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15633 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15634 | } |
| 15635 | |
| 15636 | if (!rtIsNaN(breakMat[5])) { |
| 15637 | cartesian_trajectory_planner__B.b_idx_m = 1; |
| 15638 | } else { |
| 15639 | cartesian_trajectory_planner__B.b_idx_m = 0; |
| 15640 | cartesian_trajectory_planner__B.k = 2; |
| 15641 | exitg1 = false; |
| 15642 | while ((!exitg1) && (cartesian_trajectory_planner__B.k < 5)) { |
| 15643 | if (!rtIsNaN(breakMat[(cartesian_trajectory_planner__B.k - 1) * 6 + 5])) |
| 15644 | { |
| 15645 | cartesian_trajectory_planner__B.b_idx_m = |
| 15646 | cartesian_trajectory_planner__B.k; |
| 15647 | exitg1 = true; |
| 15648 | } else { |
| 15649 | cartesian_trajectory_planner__B.k++; |
| 15650 | } |
| 15651 | } |
| 15652 | } |
| 15653 | |
| 15654 | if (cartesian_trajectory_planner__B.b_idx_m == 0) { |
| 15655 | cartesian_trajectory_planner__B.holdTime_o = breakMat[5]; |
| 15656 | } else { |
| 15657 | cartesian_trajectory_planner__B.holdTime_o = breakMat |
| 15658 | [(cartesian_trajectory_planner__B.b_idx_m - 1) * 6 + 5]; |
| 15659 | for (cartesian_trajectory_planner__B.k = |
| 15660 | cartesian_trajectory_planner__B.b_idx_m + 1; |
| 15661 | cartesian_trajectory_planner__B.k < 5; |
| 15662 | cartesian_trajectory_planner__B.k++) { |
| 15663 | cartesian_trajectory_planner__B.i_m = (cartesian_trajectory_planner__B.k |
| 15664 | - 1) * 6 + 5; |
| 15665 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15666 | breakMat[cartesian_trajectory_planner__B.i_m]) { |
| 15667 | cartesian_trajectory_planner__B.holdTime_o = |
| 15668 | breakMat[cartesian_trajectory_planner__B.i_m]; |
| 15669 | } |
| 15670 | } |
| 15671 | } |
| 15672 | |
| 15673 | if (cartesian_trajectory_planner__B.holdTime_o < |
| 15674 | cartesian_trajectory_planner__B.maxBreaksTime) { |
| 15675 | breaksCell[5].f1.size[0] = 1; |
| 15676 | breaksCell[5].f1.size[1] = 5; |
| 15677 | breaksCell[5].f1.data[0] = breakMat[5]; |
| 15678 | breaksCell[5].f1.data[1] = breakMat[11]; |
| 15679 | breaksCell[5].f1.data[2] = breakMat[17]; |
| 15680 | breaksCell[5].f1.data[3] = breakMat[23]; |
| 15681 | breaksCell[5].f1.data[4] = cartesian_trajectory_planner__B.maxBreaksTime; |
| 15682 | cartesian_trajectory_planner__B.holdTime_o = breakMat[23] - breakMat[17]; |
| 15683 | cartesian_trajectory_planner__B.k = 4; |
| 15684 | memset(&cartesian_trajectory_planner__B.coefs_data[0], 0, 12U * sizeof |
| 15685 | (real_T)); |
| 15686 | cartesian_trajectory_planner__B.holdTime[0] = |
| 15687 | cartesian_trajectory_planner__B.holdTime_o * |
| 15688 | cartesian_trajectory_planner__B.holdTime_o; |
| 15689 | cartesian_trajectory_planner__B.holdTime[1] = |
| 15690 | cartesian_trajectory_planner__B.holdTime_o; |
| 15691 | cartesian_trajectory_planner__B.holdTime[2] = 1.0; |
| 15692 | cartesian_trajectory_planner__B.holdTime_o = 0.0; |
| 15693 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15694 | cartesian_trajectory_planner__B.i_m < 3; |
| 15695 | cartesian_trajectory_planner__B.i_m++) { |
| 15696 | cartesian_trajectory_planner__B.b_idx_m = |
| 15697 | cartesian_trajectory_planner__B.i_m << 2; |
| 15698 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m] |
| 15699 | = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 5]; |
| 15700 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15701 | + 1] = coeffMat[18 * cartesian_trajectory_planner__B.i_m + 11]; |
| 15702 | cartesian_trajectory_planner__B.coefs_data_tmp = 18 * |
| 15703 | cartesian_trajectory_planner__B.i_m + 17; |
| 15704 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.b_idx_m |
| 15705 | + 2] = coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp]; |
| 15706 | cartesian_trajectory_planner__B.holdTime_o += |
| 15707 | coeffMat[cartesian_trajectory_planner__B.coefs_data_tmp] * |
| 15708 | cartesian_trajectory_planner__B.holdTime[cartesian_trajectory_planner__B.i_m]; |
| 15709 | } |
| 15710 | |
| 15711 | cartesian_trajectory_planner__B.coefs_data[11] = |
| 15712 | cartesian_trajectory_planner__B.holdTime_o; |
| 15713 | } else { |
| 15714 | cartesian_trajectory_planner__B.k = 3; |
| 15715 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15716 | cartesian_trajectory_planner__B.i_m < 3; |
| 15717 | cartesian_trajectory_planner__B.i_m++) { |
| 15718 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15719 | cartesian_trajectory_planner__B.i_m] = coeffMat[18 * |
| 15720 | cartesian_trajectory_planner__B.i_m + 5]; |
| 15721 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15722 | cartesian_trajectory_planner__B.i_m + 1] = coeffMat[18 * |
| 15723 | cartesian_trajectory_planner__B.i_m + 11]; |
| 15724 | cartesian_trajectory_planner__B.coefs_data[3 * |
| 15725 | cartesian_trajectory_planner__B.i_m + 2] = coeffMat[18 * |
| 15726 | cartesian_trajectory_planner__B.i_m + 17]; |
| 15727 | } |
| 15728 | |
| 15729 | breaksCell[5].f1.size[0] = 1; |
| 15730 | breaksCell[5].f1.size[1] = 4; |
| 15731 | breaksCell[5].f1.data[0] = breakMat[5]; |
| 15732 | breaksCell[5].f1.data[1] = breakMat[11]; |
| 15733 | breaksCell[5].f1.data[2] = breakMat[17]; |
| 15734 | breaksCell[5].f1.data[3] = breakMat[23]; |
| 15735 | } |
| 15736 | |
| 15737 | coeffCell[5].f1.size[0] = cartesian_trajectory_planner__B.k; |
| 15738 | coeffCell[5].f1.size[1] = 3; |
| 15739 | cartesian_trajectory_planner__B.k = cartesian_trajectory_planner__B.k * 3 - |
| 15740 | 1; |
| 15741 | for (cartesian_trajectory_planner__B.i_m = 0; |
| 15742 | cartesian_trajectory_planner__B.i_m <= |
| 15743 | cartesian_trajectory_planner__B.k; cartesian_trajectory_planner__B.i_m |
| 15744 | ++) { |
| 15745 | coeffCell[5].f1.data[cartesian_trajectory_planner__B.i_m] = |
| 15746 | cartesian_trajectory_planner__B.coefs_data[cartesian_trajectory_planner__B.i_m]; |
| 15747 | } |
| 15748 | } else { |
| 15749 | breaksCell[0].f1.size[0] = 1; |
| 15750 | breaksCell[0].f1.size[1] = 4; |
| 15751 | breaksCell[0].f1.data[0] = breakMat[0]; |
| 15752 | breaksCell[0].f1.data[1] = breakMat[6]; |
| 15753 | breaksCell[0].f1.data[2] = breakMat[12]; |
| 15754 | breaksCell[0].f1.data[3] = breakMat[18]; |
| 15755 | coeffCell[0].f1.size[0] = 18; |
| 15756 | coeffCell[0].f1.size[1] = 3; |
| 15757 | breaksCell[1].f1.size[0] = 1; |
| 15758 | breaksCell[1].f1.size[1] = 4; |
| 15759 | breaksCell[1].f1.data[0] = breakMat[0]; |
| 15760 | breaksCell[1].f1.data[1] = breakMat[6]; |
| 15761 | breaksCell[1].f1.data[2] = breakMat[12]; |
| 15762 | breaksCell[1].f1.data[3] = breakMat[18]; |
| 15763 | coeffCell[1].f1.size[0] = 18; |
| 15764 | coeffCell[1].f1.size[1] = 3; |
| 15765 | breaksCell[2].f1.size[0] = 1; |
| 15766 | breaksCell[2].f1.size[1] = 4; |
| 15767 | breaksCell[2].f1.data[0] = breakMat[0]; |
| 15768 | breaksCell[2].f1.data[1] = breakMat[6]; |
| 15769 | breaksCell[2].f1.data[2] = breakMat[12]; |
| 15770 | breaksCell[2].f1.data[3] = breakMat[18]; |
| 15771 | coeffCell[2].f1.size[0] = 18; |
| 15772 | coeffCell[2].f1.size[1] = 3; |
| 15773 | breaksCell[3].f1.size[0] = 1; |
| 15774 | breaksCell[3].f1.size[1] = 4; |
| 15775 | breaksCell[3].f1.data[0] = breakMat[0]; |
| 15776 | breaksCell[3].f1.data[1] = breakMat[6]; |
| 15777 | breaksCell[3].f1.data[2] = breakMat[12]; |
| 15778 | breaksCell[3].f1.data[3] = breakMat[18]; |
| 15779 | coeffCell[3].f1.size[0] = 18; |
| 15780 | coeffCell[3].f1.size[1] = 3; |
| 15781 | breaksCell[4].f1.size[0] = 1; |
| 15782 | breaksCell[4].f1.size[1] = 4; |
| 15783 | breaksCell[4].f1.data[0] = breakMat[0]; |
| 15784 | breaksCell[4].f1.data[1] = breakMat[6]; |
| 15785 | breaksCell[4].f1.data[2] = breakMat[12]; |
| 15786 | breaksCell[4].f1.data[3] = breakMat[18]; |
| 15787 | coeffCell[4].f1.size[0] = 18; |
| 15788 | coeffCell[4].f1.size[1] = 3; |
| 15789 | breaksCell[5].f1.size[0] = 1; |
| 15790 | breaksCell[5].f1.size[1] = 4; |
| 15791 | breaksCell[5].f1.data[0] = breakMat[0]; |
| 15792 | breaksCell[5].f1.data[1] = breakMat[6]; |
| 15793 | breaksCell[5].f1.data[2] = breakMat[12]; |
| 15794 | breaksCell[5].f1.data[3] = breakMat[18]; |
| 15795 | coeffCell[5].f1.size[0] = 18; |
| 15796 | coeffCell[5].f1.size[1] = 3; |
| 15797 | memcpy(&coeffCell[0].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15798 | memcpy(&coeffCell[1].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15799 | memcpy(&coeffCell[2].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15800 | memcpy(&coeffCell[3].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15801 | memcpy(&coeffCell[4].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15802 | memcpy(&coeffCell[5].f1.data[0], &coeffMat[0], 54U * sizeof(real_T)); |
| 15803 | } |
| 15804 | } |
| 15805 | |
| 15806 | static real_T cartesian_trajector_rt_powd_snf(real_T u0, real_T u1) |
| 15807 | { |
| 15808 | real_T y; |
| 15809 | if (rtIsNaN(u0) || rtIsNaN(u1)) { |
| 15810 | y = (rtNaN); |
| 15811 | } else { |
| 15812 | cartesian_trajectory_planner__B.d1 = fabs(u0); |
| 15813 | cartesian_trajectory_planner__B.d2 = fabs(u1); |
| 15814 | if (rtIsInf(u1)) { |
| 15815 | if (cartesian_trajectory_planner__B.d1 == 1.0) { |
| 15816 | y = 1.0; |
| 15817 | } else if (cartesian_trajectory_planner__B.d1 > 1.0) { |
| 15818 | if (u1 > 0.0) { |
| 15819 | y = (rtInf); |
| 15820 | } else { |
| 15821 | y = 0.0; |
| 15822 | } |
| 15823 | } else if (u1 > 0.0) { |
| 15824 | y = 0.0; |
| 15825 | } else { |
| 15826 | y = (rtInf); |
| 15827 | } |
| 15828 | } else if (cartesian_trajectory_planner__B.d2 == 0.0) { |
| 15829 | y = 1.0; |
| 15830 | } else if (cartesian_trajectory_planner__B.d2 == 1.0) { |
| 15831 | if (u1 > 0.0) { |
| 15832 | y = u0; |
| 15833 | } else { |
| 15834 | y = 1.0 / u0; |
| 15835 | } |
| 15836 | } else if (u1 == 2.0) { |
| 15837 | y = u0 * u0; |
| 15838 | } else if ((u1 == 0.5) && (u0 >= 0.0)) { |
| 15839 | y = sqrt(u0); |
| 15840 | } else if ((u0 < 0.0) && (u1 > floor(u1))) { |
| 15841 | y = (rtNaN); |
| 15842 | } else { |
| 15843 | y = pow(u0, u1); |
| 15844 | } |
| 15845 | } |
| 15846 | |
| 15847 | return y; |
| 15848 | } |
| 15849 | |
| 15850 | static void ca_addFlatSegmentsToPPFormParts(const real_T oldbreaks_data[], const |
| 15851 | int32_T oldbreaks_size[2], const real_T oldCoeffs_data[], const int32_T |
| 15852 | oldCoeffs_size[2], real_T dim, real_T newBreaks_data[], int32_T |
| 15853 | newBreaks_size[2], real_T newCoefs_data[], int32_T newCoefs_size[2]) |
| 15854 | { |
| 15855 | cartesian_trajectory_planner__B.m_tmp = static_cast<int32_T>(dim); |
| 15856 | cartesian_trajectory_planner__B.m = cartesian_trajectory_planner__B.m_tmp - 1; |
| 15857 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 15858 | cartesian_trajectory_planner__B.b_i <= cartesian_trajectory_planner__B.m; |
| 15859 | cartesian_trajectory_planner__B.b_i++) { |
| 15860 | cartesian_trajectory_planner__B.d_n = cartesian_trajectory_planner__B.m_tmp |
| 15861 | + cartesian_trajectory_planner__B.b_i; |
| 15862 | cartesian_trajectory_planner__B.s = |
| 15863 | oldCoeffs_data[cartesian_trajectory_planner__B.b_i % |
| 15864 | cartesian_trajectory_planner__B.m_tmp + oldCoeffs_size[0] * |
| 15865 | div_nzp_s32_floor(cartesian_trajectory_planner__B.b_i, |
| 15866 | cartesian_trajectory_planner__B.m_tmp)] * 0.0 + |
| 15867 | oldCoeffs_data[cartesian_trajectory_planner__B.d_n % |
| 15868 | cartesian_trajectory_planner__B.m_tmp + oldCoeffs_size[0] * |
| 15869 | div_nzp_s32_floor(cartesian_trajectory_planner__B.d_n, |
| 15870 | cartesian_trajectory_planner__B.m_tmp)] * 0.0; |
| 15871 | cartesian_trajectory_planner__B.d_n = (cartesian_trajectory_planner__B.m_tmp |
| 15872 | << 1) + cartesian_trajectory_planner__B.b_i; |
| 15873 | cartesian_trajectory_planner__B.valueAtStart_data[cartesian_trajectory_planner__B.b_i] |
| 15874 | = oldCoeffs_data[cartesian_trajectory_planner__B.d_n % |
| 15875 | cartesian_trajectory_planner__B.m_tmp + oldCoeffs_size[0] * |
| 15876 | div_nzp_s32_floor(cartesian_trajectory_planner__B.d_n, |
| 15877 | cartesian_trajectory_planner__B.m_tmp)] + |
| 15878 | cartesian_trajectory_planner__B.s; |
| 15879 | } |
| 15880 | |
| 15881 | cartesian_trajectory_planner__B.loop_ub_tmp = |
| 15882 | cartesian_trajectory_planner__B.m_tmp * 3 - 1; |
| 15883 | if (0 <= cartesian_trajectory_planner__B.loop_ub_tmp) { |
| 15884 | memset(&cartesian_trajectory_planner__B.newSegmentCoeffs_data[0], 0, |
| 15885 | (cartesian_trajectory_planner__B.loop_ub_tmp + 1) * sizeof(real_T)); |
| 15886 | } |
| 15887 | |
| 15888 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 15889 | cartesian_trajectory_planner__B.d_n < |
| 15890 | cartesian_trajectory_planner__B.m_tmp; |
| 15891 | cartesian_trajectory_planner__B.d_n++) { |
| 15892 | cartesian_trajectory_planner__B.newSegmentCoeffs_data[cartesian_trajectory_planner__B.d_n |
| 15893 | + (cartesian_trajectory_planner__B.m_tmp << 1)] = |
| 15894 | cartesian_trajectory_planner__B.valueAtStart_data[cartesian_trajectory_planner__B.d_n]; |
| 15895 | } |
| 15896 | |
| 15897 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t = static_cast< |
| 15898 | real_T>(oldCoeffs_size[0]) + dim; |
| 15899 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c = static_cast< |
| 15900 | int32_T>(cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t); |
| 15901 | cartesian_trajectory_planner__B.loop_ub_m = |
| 15902 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c * 3 - 1; |
| 15903 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m) { |
| 15904 | memset(&cartesian_trajectory_planner__B.coefsWithFlatStart_data[0], 0, |
| 15905 | (cartesian_trajectory_planner__B.loop_ub_m + 1) * sizeof(real_T)); |
| 15906 | } |
| 15907 | |
| 15908 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 15909 | cartesian_trajectory_planner__B.d_n < 3; |
| 15910 | cartesian_trajectory_planner__B.d_n++) { |
| 15911 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 15912 | cartesian_trajectory_planner__B.b_i < |
| 15913 | cartesian_trajectory_planner__B.m_tmp; |
| 15914 | cartesian_trajectory_planner__B.b_i++) { |
| 15915 | cartesian_trajectory_planner__B.coefsWithFlatStart_data[cartesian_trajectory_planner__B.b_i |
| 15916 | + cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c * |
| 15917 | cartesian_trajectory_planner__B.d_n] = |
| 15918 | cartesian_trajectory_planner__B.newSegmentCoeffs_data[cartesian_trajectory_planner__B.m_tmp |
| 15919 | * cartesian_trajectory_planner__B.d_n + |
| 15920 | cartesian_trajectory_planner__B.b_i]; |
| 15921 | } |
| 15922 | } |
| 15923 | |
| 15924 | if (dim + 1.0 > |
| 15925 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t) { |
| 15926 | cartesian_trajectory_planner__B.h = 0; |
| 15927 | } else { |
| 15928 | cartesian_trajectory_planner__B.h = static_cast<int32_T>(dim + 1.0) - 1; |
| 15929 | } |
| 15930 | |
| 15931 | cartesian_trajectory_planner__B.loop_ub_m = oldCoeffs_size[0]; |
| 15932 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 15933 | cartesian_trajectory_planner__B.d_n < 3; |
| 15934 | cartesian_trajectory_planner__B.d_n++) { |
| 15935 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 15936 | cartesian_trajectory_planner__B.b_i < |
| 15937 | cartesian_trajectory_planner__B.loop_ub_m; |
| 15938 | cartesian_trajectory_planner__B.b_i++) { |
| 15939 | cartesian_trajectory_planner__B.coefsWithFlatStart_data |
| 15940 | [(cartesian_trajectory_planner__B.h + |
| 15941 | cartesian_trajectory_planner__B.b_i) + |
| 15942 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c * |
| 15943 | cartesian_trajectory_planner__B.d_n] = oldCoeffs_data[oldCoeffs_size[0] * |
| 15944 | cartesian_trajectory_planner__B.d_n + |
| 15945 | cartesian_trajectory_planner__B.b_i]; |
| 15946 | } |
| 15947 | } |
| 15948 | |
| 15949 | cartesian_trajectory_planner__B.h = oldbreaks_size[1] + 1; |
| 15950 | cartesian_trajectory_planner__B.loop_ub_m = oldbreaks_size[0] * |
| 15951 | oldbreaks_size[1] - 1; |
| 15952 | cartesian_trajectory_planner__B.valueAtStart_data[0] = oldbreaks_data[0] - 1.0; |
| 15953 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m) { |
| 15954 | memcpy(&cartesian_trajectory_planner__B.valueAtStart_data[1], |
| 15955 | &oldbreaks_data[0], (cartesian_trajectory_planner__B.loop_ub_m + 1) * |
| 15956 | sizeof(real_T)); |
| 15957 | } |
| 15958 | |
| 15959 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t = |
| 15960 | cartesian_trajectory_planner__B.valueAtStart_data[cartesian_trajectory_planner__B.h |
| 15961 | - 1]; |
| 15962 | cartesian_trajectory_planner__B.holdPoint = |
| 15963 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t - |
| 15964 | cartesian_trajectory_planner__B.valueAtStart_data[cartesian_trajectory_planner__B.h |
| 15965 | - 2]; |
| 15966 | cartesian_trajectory_planner__B.B_idx_0 = cartesian_trajector_rt_powd_snf |
| 15967 | (cartesian_trajectory_planner__B.holdPoint, 2.0); |
| 15968 | cartesian_trajectory_planner__B.B_idx_1 = cartesian_trajector_rt_powd_snf |
| 15969 | (cartesian_trajectory_planner__B.holdPoint, 1.0); |
| 15970 | cartesian_trajectory_planner__B.holdPoint = cartesian_trajector_rt_powd_snf |
| 15971 | (cartesian_trajectory_planner__B.holdPoint, 0.0); |
| 15972 | cartesian_trajectory_planner__B.s = (static_cast<real_T> |
| 15973 | (cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c) - dim) + |
| 15974 | 1.0; |
| 15975 | if (cartesian_trajectory_planner__B.s > |
| 15976 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c) { |
| 15977 | cartesian_trajectory_planner__B.loop_ub_m = 0; |
| 15978 | cartesian_trajectory_planner__B.d_n = 0; |
| 15979 | } else { |
| 15980 | cartesian_trajectory_planner__B.loop_ub_m = static_cast<int32_T> |
| 15981 | (cartesian_trajectory_planner__B.s) - 1; |
| 15982 | cartesian_trajectory_planner__B.d_n = |
| 15983 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c; |
| 15984 | } |
| 15985 | |
| 15986 | cartesian_trajectory_planner__B.m_tmp_m = cartesian_trajectory_planner__B.d_n |
| 15987 | - cartesian_trajectory_planner__B.loop_ub_m; |
| 15988 | cartesian_trajectory_planner__B.m = cartesian_trajectory_planner__B.m_tmp_m - |
| 15989 | 1; |
| 15990 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 15991 | cartesian_trajectory_planner__B.b_i <= cartesian_trajectory_planner__B.m; |
| 15992 | cartesian_trajectory_planner__B.b_i++) { |
| 15993 | cartesian_trajectory_planner__B.d_n = |
| 15994 | cartesian_trajectory_planner__B.m_tmp_m + |
| 15995 | cartesian_trajectory_planner__B.b_i; |
| 15996 | cartesian_trajectory_planner__B.s = |
| 15997 | cartesian_trajectory_planner__B.coefsWithFlatStart_data |
| 15998 | [(cartesian_trajectory_planner__B.b_i % |
| 15999 | cartesian_trajectory_planner__B.m_tmp_m + |
| 16000 | cartesian_trajectory_planner__B.loop_ub_m) + div_nzp_s32_floor |
| 16001 | (cartesian_trajectory_planner__B.b_i, |
| 16002 | cartesian_trajectory_planner__B.m_tmp_m) * |
| 16003 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c] * |
| 16004 | cartesian_trajectory_planner__B.B_idx_0 + |
| 16005 | cartesian_trajectory_planner__B.coefsWithFlatStart_data |
| 16006 | [(cartesian_trajectory_planner__B.d_n % |
| 16007 | cartesian_trajectory_planner__B.m_tmp_m + |
| 16008 | cartesian_trajectory_planner__B.loop_ub_m) + div_nzp_s32_floor |
| 16009 | (cartesian_trajectory_planner__B.d_n, |
| 16010 | cartesian_trajectory_planner__B.m_tmp_m) * |
| 16011 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c] * |
| 16012 | cartesian_trajectory_planner__B.B_idx_1; |
| 16013 | cartesian_trajectory_planner__B.d_n = |
| 16014 | (cartesian_trajectory_planner__B.m_tmp_m << 1) + |
| 16015 | cartesian_trajectory_planner__B.b_i; |
| 16016 | cartesian_trajectory_planner__B.valueAtEnd_data[cartesian_trajectory_planner__B.b_i] |
| 16017 | = cartesian_trajectory_planner__B.coefsWithFlatStart_data |
| 16018 | [(cartesian_trajectory_planner__B.d_n % |
| 16019 | cartesian_trajectory_planner__B.m_tmp_m + |
| 16020 | cartesian_trajectory_planner__B.loop_ub_m) + div_nzp_s32_floor |
| 16021 | (cartesian_trajectory_planner__B.d_n, |
| 16022 | cartesian_trajectory_planner__B.m_tmp_m) * |
| 16023 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c] * |
| 16024 | cartesian_trajectory_planner__B.holdPoint |
| 16025 | + cartesian_trajectory_planner__B.s; |
| 16026 | } |
| 16027 | |
| 16028 | if (0 <= cartesian_trajectory_planner__B.loop_ub_tmp) { |
| 16029 | memset(&cartesian_trajectory_planner__B.newSegmentCoeffs_data[0], 0, |
| 16030 | (cartesian_trajectory_planner__B.loop_ub_tmp + 1) * sizeof(real_T)); |
| 16031 | } |
| 16032 | |
| 16033 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 16034 | cartesian_trajectory_planner__B.d_n < |
| 16035 | cartesian_trajectory_planner__B.m_tmp_m; |
| 16036 | cartesian_trajectory_planner__B.d_n++) { |
| 16037 | cartesian_trajectory_planner__B.newSegmentCoeffs_data[cartesian_trajectory_planner__B.d_n |
| 16038 | + (cartesian_trajectory_planner__B.m_tmp << 1)] = |
| 16039 | cartesian_trajectory_planner__B.valueAtEnd_data[cartesian_trajectory_planner__B.d_n]; |
| 16040 | } |
| 16041 | |
| 16042 | cartesian_trajectory_planner__B.loop_ub_tmp = static_cast<int32_T>( |
| 16043 | static_cast<real_T> |
| 16044 | (cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c) + dim); |
| 16045 | newCoefs_size[0] = cartesian_trajectory_planner__B.loop_ub_tmp; |
| 16046 | newCoefs_size[1] = 3; |
| 16047 | cartesian_trajectory_planner__B.loop_ub_m = |
| 16048 | cartesian_trajectory_planner__B.loop_ub_tmp * 3 - 1; |
| 16049 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m) { |
| 16050 | memset(&newCoefs_data[0], 0, (cartesian_trajectory_planner__B.loop_ub_m + 1) |
| 16051 | * sizeof(real_T)); |
| 16052 | } |
| 16053 | |
| 16054 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 16055 | cartesian_trajectory_planner__B.d_n < 3; |
| 16056 | cartesian_trajectory_planner__B.d_n++) { |
| 16057 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 16058 | cartesian_trajectory_planner__B.b_i < |
| 16059 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c; |
| 16060 | cartesian_trajectory_planner__B.b_i++) { |
| 16061 | newCoefs_data[cartesian_trajectory_planner__B.b_i + |
| 16062 | cartesian_trajectory_planner__B.loop_ub_tmp * |
| 16063 | cartesian_trajectory_planner__B.d_n] = |
| 16064 | cartesian_trajectory_planner__B.coefsWithFlatStart_data[cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c |
| 16065 | * cartesian_trajectory_planner__B.d_n + |
| 16066 | cartesian_trajectory_planner__B.b_i]; |
| 16067 | } |
| 16068 | } |
| 16069 | |
| 16070 | for (cartesian_trajectory_planner__B.d_n = 0; |
| 16071 | cartesian_trajectory_planner__B.d_n < 3; |
| 16072 | cartesian_trajectory_planner__B.d_n++) { |
| 16073 | for (cartesian_trajectory_planner__B.b_i = 0; |
| 16074 | cartesian_trajectory_planner__B.b_i < |
| 16075 | cartesian_trajectory_planner__B.m_tmp; |
| 16076 | cartesian_trajectory_planner__B.b_i++) { |
| 16077 | newCoefs_data |
| 16078 | [((cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_c + |
| 16079 | (cartesian_trajectory_planner__B.b_i + 1)) + |
| 16080 | cartesian_trajectory_planner__B.loop_ub_tmp * |
| 16081 | cartesian_trajectory_planner__B.d_n) - 1] = |
| 16082 | cartesian_trajectory_planner__B.newSegmentCoeffs_data[cartesian_trajectory_planner__B.m_tmp |
| 16083 | * cartesian_trajectory_planner__B.d_n + |
| 16084 | cartesian_trajectory_planner__B.b_i]; |
| 16085 | } |
| 16086 | } |
| 16087 | |
| 16088 | newBreaks_size[0] = 1; |
| 16089 | newBreaks_size[1] = cartesian_trajectory_planner__B.h + 1; |
| 16090 | if (0 <= cartesian_trajectory_planner__B.h - 1) { |
| 16091 | memcpy(&newBreaks_data[0], |
| 16092 | &cartesian_trajectory_planner__B.valueAtStart_data[0], |
| 16093 | cartesian_trajectory_planner__B.h * sizeof(real_T)); |
| 16094 | } |
| 16095 | |
| 16096 | newBreaks_data[cartesian_trajectory_planner__B.h] = |
| 16097 | cartesian_trajectory_planner__B.coefsWithFlatStart_size_idx_0_t + 1.0; |
| 16098 | } |
| 16099 | |
| 16100 | static void cartesian__polyCoeffsDerivative(const real_T coeffs_data[], const |
| 16101 | int32_T coeffs_size[2], real_T dCoeffs_data[], int32_T dCoeffs_size[2]) |
| 16102 | { |
| 16103 | cartesian_trajectory_planner__B.b_idx_0 = coeffs_size[0]; |
| 16104 | dCoeffs_size[0] = coeffs_size[0]; |
| 16105 | dCoeffs_size[1] = 3; |
| 16106 | cartesian_trajectory_planner__B.loop_ub_o4 = coeffs_size[0] * 3 - 1; |
| 16107 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o4) { |
| 16108 | memset(&dCoeffs_data[0], 0, (cartesian_trajectory_planner__B.loop_ub_o4 + 1) |
| 16109 | * sizeof(real_T)); |
| 16110 | } |
| 16111 | |
| 16112 | cartesian_trajectory_planner__B.loop_ub_o4 = coeffs_size[0]; |
| 16113 | for (cartesian_trajectory_planner__B.i2 = 0; |
| 16114 | cartesian_trajectory_planner__B.i2 < |
| 16115 | cartesian_trajectory_planner__B.loop_ub_o4; |
| 16116 | cartesian_trajectory_planner__B.i2++) { |
| 16117 | dCoeffs_data[cartesian_trajectory_planner__B.i2 + |
| 16118 | cartesian_trajectory_planner__B.b_idx_0] = 2.0 * |
| 16119 | coeffs_data[cartesian_trajectory_planner__B.i2]; |
| 16120 | } |
| 16121 | |
| 16122 | cartesian_trajectory_planner__B.loop_ub_o4 = coeffs_size[0]; |
| 16123 | for (cartesian_trajectory_planner__B.i2 = 0; |
| 16124 | cartesian_trajectory_planner__B.i2 < |
| 16125 | cartesian_trajectory_planner__B.loop_ub_o4; |
| 16126 | cartesian_trajectory_planner__B.i2++) { |
| 16127 | dCoeffs_data[cartesian_trajectory_planner__B.i2 + |
| 16128 | (cartesian_trajectory_planner__B.b_idx_0 << 1)] = |
| 16129 | coeffs_data[cartesian_trajectory_planner__B.i2 + coeffs_size[0]]; |
| 16130 | } |
| 16131 | } |
| 16132 | |
| 16133 | static int32_T cartesian_trajectory_pl_bsearch(const real_T x_data[], const |
| 16134 | int32_T x_size[2], real_T xi) |
| 16135 | { |
| 16136 | int32_T n; |
| 16137 | n = 1; |
| 16138 | cartesian_trajectory_planner__B.low_ip1 = 1; |
| 16139 | cartesian_trajectory_planner__B.high_i = x_size[1]; |
| 16140 | while (cartesian_trajectory_planner__B.high_i > |
| 16141 | cartesian_trajectory_planner__B.low_ip1 + 1) { |
| 16142 | cartesian_trajectory_planner__B.mid_i = (n >> 1) + |
| 16143 | (cartesian_trajectory_planner__B.high_i >> 1); |
| 16144 | if (((n & 1) == 1) && ((cartesian_trajectory_planner__B.high_i & 1) == 1)) { |
| 16145 | cartesian_trajectory_planner__B.mid_i++; |
| 16146 | } |
| 16147 | |
| 16148 | if (xi >= x_data[cartesian_trajectory_planner__B.mid_i - 1]) { |
| 16149 | n = cartesian_trajectory_planner__B.mid_i; |
| 16150 | cartesian_trajectory_planner__B.low_ip1 = |
| 16151 | cartesian_trajectory_planner__B.mid_i; |
| 16152 | } else { |
| 16153 | cartesian_trajectory_planner__B.high_i = |
| 16154 | cartesian_trajectory_planner__B.mid_i; |
| 16155 | } |
| 16156 | } |
| 16157 | |
| 16158 | return n; |
| 16159 | } |
| 16160 | |
| 16161 | static void cartesian_trajectory_plan_ppval(const real_T pp_breaks_data[], const |
| 16162 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 16163 | pp_coefs_size[3], const real_T x[2], real_T v_data[], int32_T v_size[2]) |
| 16164 | { |
| 16165 | cartesian_trajectory_planner__B.elementsPerPage = pp_coefs_size[0] - 1; |
| 16166 | cartesian_trajectory_planner__B.coefStride = (pp_breaks_size[1] - 1) * |
| 16167 | pp_coefs_size[0]; |
| 16168 | v_size[0] = pp_coefs_size[0]; |
| 16169 | v_size[1] = 2; |
| 16170 | if (pp_coefs_size[0] == 1) { |
| 16171 | if (rtIsNaN(x[0])) { |
| 16172 | v_data[0] = x[0]; |
| 16173 | } else { |
| 16174 | cartesian_trajectory_planner__B.ip_p = cartesian_trajectory_pl_bsearch |
| 16175 | (pp_breaks_data, pp_breaks_size, x[0]) - 1; |
| 16176 | cartesian_trajectory_planner__B.xloc_b = x[0] - |
| 16177 | pp_breaks_data[cartesian_trajectory_planner__B.ip_p]; |
| 16178 | v_data[0] = (cartesian_trajectory_planner__B.xloc_b * |
| 16179 | pp_coefs_data[cartesian_trajectory_planner__B.ip_p] + |
| 16180 | pp_coefs_data[cartesian_trajectory_planner__B.ip_p + |
| 16181 | cartesian_trajectory_planner__B.coefStride]) * |
| 16182 | cartesian_trajectory_planner__B.xloc_b + pp_coefs_data |
| 16183 | [(cartesian_trajectory_planner__B.coefStride << 1) + |
| 16184 | cartesian_trajectory_planner__B.ip_p]; |
| 16185 | } |
| 16186 | |
| 16187 | if (rtIsNaN(x[1])) { |
| 16188 | v_data[1] = x[1]; |
| 16189 | } else { |
| 16190 | cartesian_trajectory_planner__B.ip_p = cartesian_trajectory_pl_bsearch |
| 16191 | (pp_breaks_data, pp_breaks_size, x[1]) - 1; |
| 16192 | cartesian_trajectory_planner__B.xloc_b = x[1] - |
| 16193 | pp_breaks_data[cartesian_trajectory_planner__B.ip_p]; |
| 16194 | v_data[1] = (cartesian_trajectory_planner__B.xloc_b * |
| 16195 | pp_coefs_data[cartesian_trajectory_planner__B.ip_p] + |
| 16196 | pp_coefs_data[cartesian_trajectory_planner__B.ip_p + |
| 16197 | cartesian_trajectory_planner__B.coefStride]) * |
| 16198 | cartesian_trajectory_planner__B.xloc_b + pp_coefs_data |
| 16199 | [(cartesian_trajectory_planner__B.coefStride << 1) + |
| 16200 | cartesian_trajectory_planner__B.ip_p]; |
| 16201 | } |
| 16202 | } else { |
| 16203 | if (rtIsNaN(x[0])) { |
| 16204 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16205 | cartesian_trajectory_planner__B.ip_p <= |
| 16206 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16207 | cartesian_trajectory_planner__B.ip_p++) { |
| 16208 | v_data[cartesian_trajectory_planner__B.ip_p] = x[0]; |
| 16209 | } |
| 16210 | } else { |
| 16211 | cartesian_trajectory_planner__B.ip_p = cartesian_trajectory_pl_bsearch |
| 16212 | (pp_breaks_data, pp_breaks_size, x[0]) - 1; |
| 16213 | cartesian_trajectory_planner__B.icp = |
| 16214 | (cartesian_trajectory_planner__B.elementsPerPage + 1) * |
| 16215 | cartesian_trajectory_planner__B.ip_p; |
| 16216 | cartesian_trajectory_planner__B.xloc_b = x[0] - |
| 16217 | pp_breaks_data[cartesian_trajectory_planner__B.ip_p]; |
| 16218 | cartesian_trajectory_planner__B.ic0 = (cartesian_trajectory_planner__B.icp |
| 16219 | + cartesian_trajectory_planner__B.coefStride) - 1; |
| 16220 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16221 | cartesian_trajectory_planner__B.ip_p <= |
| 16222 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16223 | cartesian_trajectory_planner__B.ip_p++) { |
| 16224 | v_data[cartesian_trajectory_planner__B.ip_p] = |
| 16225 | pp_coefs_data[cartesian_trajectory_planner__B.icp + |
| 16226 | cartesian_trajectory_planner__B.ip_p]; |
| 16227 | cartesian_trajectory_planner__B.j = cartesian_trajectory_planner__B.ip_p |
| 16228 | + 1; |
| 16229 | v_data[-1 + cartesian_trajectory_planner__B.j] = v_data[-1 + |
| 16230 | cartesian_trajectory_planner__B.j] * |
| 16231 | cartesian_trajectory_planner__B.xloc_b + |
| 16232 | pp_coefs_data[cartesian_trajectory_planner__B.ic0 + |
| 16233 | cartesian_trajectory_planner__B.j]; |
| 16234 | } |
| 16235 | |
| 16236 | cartesian_trajectory_planner__B.ic0 = |
| 16237 | ((cartesian_trajectory_planner__B.coefStride << 1) + |
| 16238 | cartesian_trajectory_planner__B.icp) - 1; |
| 16239 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16240 | cartesian_trajectory_planner__B.ip_p <= |
| 16241 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16242 | cartesian_trajectory_planner__B.ip_p++) { |
| 16243 | cartesian_trajectory_planner__B.j = cartesian_trajectory_planner__B.ip_p |
| 16244 | + 1; |
| 16245 | v_data[-1 + cartesian_trajectory_planner__B.j] = v_data[-1 + |
| 16246 | cartesian_trajectory_planner__B.j] * |
| 16247 | cartesian_trajectory_planner__B.xloc_b + |
| 16248 | pp_coefs_data[cartesian_trajectory_planner__B.ic0 + |
| 16249 | cartesian_trajectory_planner__B.j]; |
| 16250 | } |
| 16251 | } |
| 16252 | |
| 16253 | if (rtIsNaN(x[1])) { |
| 16254 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16255 | cartesian_trajectory_planner__B.ip_p <= |
| 16256 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16257 | cartesian_trajectory_planner__B.ip_p++) { |
| 16258 | v_data[(cartesian_trajectory_planner__B.elementsPerPage + |
| 16259 | cartesian_trajectory_planner__B.ip_p) + 1] = x[1]; |
| 16260 | } |
| 16261 | } else { |
| 16262 | cartesian_trajectory_planner__B.ip_p = cartesian_trajectory_pl_bsearch |
| 16263 | (pp_breaks_data, pp_breaks_size, x[1]) - 1; |
| 16264 | cartesian_trajectory_planner__B.icp = |
| 16265 | (cartesian_trajectory_planner__B.elementsPerPage + 1) * |
| 16266 | cartesian_trajectory_planner__B.ip_p; |
| 16267 | cartesian_trajectory_planner__B.xloc_b = x[1] - |
| 16268 | pp_breaks_data[cartesian_trajectory_planner__B.ip_p]; |
| 16269 | cartesian_trajectory_planner__B.ic0 = (cartesian_trajectory_planner__B.icp |
| 16270 | + cartesian_trajectory_planner__B.coefStride) - 1; |
| 16271 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16272 | cartesian_trajectory_planner__B.ip_p <= |
| 16273 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16274 | cartesian_trajectory_planner__B.ip_p++) { |
| 16275 | v_data[(cartesian_trajectory_planner__B.elementsPerPage + |
| 16276 | cartesian_trajectory_planner__B.ip_p) + 1] = |
| 16277 | pp_coefs_data[cartesian_trajectory_planner__B.icp + |
| 16278 | cartesian_trajectory_planner__B.ip_p]; |
| 16279 | cartesian_trajectory_planner__B.j = cartesian_trajectory_planner__B.ip_p |
| 16280 | + 1; |
| 16281 | cartesian_trajectory_planner__B.v_data_tmp = |
| 16282 | cartesian_trajectory_planner__B.elementsPerPage + |
| 16283 | cartesian_trajectory_planner__B.j; |
| 16284 | v_data[cartesian_trajectory_planner__B.v_data_tmp] = |
| 16285 | v_data[cartesian_trajectory_planner__B.v_data_tmp] * |
| 16286 | cartesian_trajectory_planner__B.xloc_b + |
| 16287 | pp_coefs_data[cartesian_trajectory_planner__B.ic0 + |
| 16288 | cartesian_trajectory_planner__B.j]; |
| 16289 | } |
| 16290 | |
| 16291 | cartesian_trajectory_planner__B.ic0 = |
| 16292 | ((cartesian_trajectory_planner__B.coefStride << 1) + |
| 16293 | cartesian_trajectory_planner__B.icp) - 1; |
| 16294 | for (cartesian_trajectory_planner__B.ip_p = 0; |
| 16295 | cartesian_trajectory_planner__B.ip_p <= |
| 16296 | cartesian_trajectory_planner__B.elementsPerPage; |
| 16297 | cartesian_trajectory_planner__B.ip_p++) { |
| 16298 | cartesian_trajectory_planner__B.j = cartesian_trajectory_planner__B.ip_p |
| 16299 | + 1; |
| 16300 | cartesian_trajectory_planner__B.v_data_tmp = |
| 16301 | cartesian_trajectory_planner__B.elementsPerPage + |
| 16302 | cartesian_trajectory_planner__B.j; |
| 16303 | v_data[cartesian_trajectory_planner__B.v_data_tmp] = |
| 16304 | v_data[cartesian_trajectory_planner__B.v_data_tmp] * |
| 16305 | cartesian_trajectory_planner__B.xloc_b + |
| 16306 | pp_coefs_data[cartesian_trajectory_planner__B.ic0 + |
| 16307 | cartesian_trajectory_planner__B.j]; |
| 16308 | } |
| 16309 | } |
| 16310 | } |
| 16311 | } |
| 16312 | |
| 16313 | static void c_generateTrajectoriesFromCoefs(const real_T breaks_data[], const |
| 16314 | int32_T breaks_size[2], const real_T coeffs_data[], const int32_T coeffs_size |
| 16315 | [2], real_T dim, const real_T t[2], real_T q_data[], int32_T q_size[2], real_T |
| 16316 | qd_data[], int32_T qd_size[2], real_T qdd_data[], int32_T qdd_size[2], real_T |
| 16317 | pp_breaks_data[], int32_T pp_breaks_size[2], real_T pp_coefs_data[], int32_T |
| 16318 | pp_coefs_size[3]) |
| 16319 | { |
| 16320 | ca_addFlatSegmentsToPPFormParts(breaks_data, breaks_size, coeffs_data, |
| 16321 | coeffs_size, dim, cartesian_trajectory_planner__B.modBreaks_data, |
| 16322 | cartesian_trajectory_planner__B.modBreaks_size, |
| 16323 | cartesian_trajectory_planner__B.modCoeffs_data, |
| 16324 | cartesian_trajectory_planner__B.modCoeffs_size); |
| 16325 | cartesian__polyCoeffsDerivative(cartesian_trajectory_planner__B.modCoeffs_data, |
| 16326 | cartesian_trajectory_planner__B.modCoeffs_size, |
| 16327 | cartesian_trajectory_planner__B.tmp_data, |
| 16328 | cartesian_trajectory_planner__B.tmp_size); |
| 16329 | cartesian_trajectory_planner__B.dCoeffs_size[0] = |
| 16330 | cartesian_trajectory_planner__B.tmp_size[0]; |
| 16331 | cartesian_trajectory_planner__B.dCoeffs_size[1] = 3; |
| 16332 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16333 | cartesian_trajectory_planner__B.tmp_size[0] * |
| 16334 | cartesian_trajectory_planner__B.tmp_size[1]; |
| 16335 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o - 1) { |
| 16336 | memcpy(&cartesian_trajectory_planner__B.dCoeffs_data[0], |
| 16337 | &cartesian_trajectory_planner__B.tmp_data[0], |
| 16338 | cartesian_trajectory_planner__B.loop_ub_o * sizeof(real_T)); |
| 16339 | } |
| 16340 | |
| 16341 | cartesian_trajectory_planner__B.num_idx_0_tmp = static_cast<int32_T>(dim); |
| 16342 | cartesian_trajectory_planner__B.num_idx_1 = |
| 16343 | cartesian_trajectory_planner__B.modBreaks_size[1] - 1; |
| 16344 | pp_breaks_size[0] = 1; |
| 16345 | pp_breaks_size[1] = cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16346 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16347 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16348 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o - 1) { |
| 16349 | memcpy(&pp_breaks_data[0], &cartesian_trajectory_planner__B.modBreaks_data[0], |
| 16350 | cartesian_trajectory_planner__B.loop_ub_o * sizeof(real_T)); |
| 16351 | } |
| 16352 | |
| 16353 | pp_coefs_size[0] = cartesian_trajectory_planner__B.num_idx_0_tmp; |
| 16354 | pp_coefs_size[1] = cartesian_trajectory_planner__B.num_idx_1; |
| 16355 | pp_coefs_size[2] = 3; |
| 16356 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16357 | cartesian_trajectory_planner__B.num_idx_0_tmp * |
| 16358 | cartesian_trajectory_planner__B.num_idx_1 * 3 - 1; |
| 16359 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o) { |
| 16360 | memcpy(&pp_coefs_data[0], &cartesian_trajectory_planner__B.modCoeffs_data[0], |
| 16361 | (cartesian_trajectory_planner__B.loop_ub_o + 1) * sizeof(real_T)); |
| 16362 | } |
| 16363 | |
| 16364 | cartesian_trajectory_planner__B.num[0] = |
| 16365 | cartesian_trajectory_planner__B.num_idx_0_tmp; |
| 16366 | cartesian_trajectory_planner__B.num[1] = |
| 16367 | cartesian_trajectory_planner__B.num_idx_1; |
| 16368 | cartesian_trajectory_planner__B.num[2] = 3; |
| 16369 | cartesian_trajectory_planner__B.modBreaks_size_n[0] = 1; |
| 16370 | cartesian_trajectory_planner__B.modBreaks_size_n[1] = |
| 16371 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16372 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16373 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16374 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o - 1) { |
| 16375 | memcpy(&cartesian_trajectory_planner__B.modBreaks_data_f[0], |
| 16376 | &cartesian_trajectory_planner__B.modBreaks_data[0], |
| 16377 | cartesian_trajectory_planner__B.loop_ub_o * sizeof(real_T)); |
| 16378 | } |
| 16379 | |
| 16380 | cartesian_trajectory_plan_ppval |
| 16381 | (cartesian_trajectory_planner__B.modBreaks_data_f, |
| 16382 | cartesian_trajectory_planner__B.modBreaks_size_n, |
| 16383 | cartesian_trajectory_planner__B.modCoeffs_data, |
| 16384 | cartesian_trajectory_planner__B.num, t, q_data, q_size); |
| 16385 | cartesian_trajectory_planner__B.num[0] = |
| 16386 | cartesian_trajectory_planner__B.num_idx_0_tmp; |
| 16387 | cartesian_trajectory_planner__B.num[1] = |
| 16388 | cartesian_trajectory_planner__B.modBreaks_size[1] - 1; |
| 16389 | cartesian_trajectory_planner__B.num[2] = 3; |
| 16390 | cartesian_trajectory_planner__B.modBreaks_size_b[0] = 1; |
| 16391 | cartesian_trajectory_planner__B.modBreaks_size_b[1] = |
| 16392 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16393 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16394 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16395 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o - 1) { |
| 16396 | memcpy(&cartesian_trajectory_planner__B.modBreaks_data_f[0], |
| 16397 | &cartesian_trajectory_planner__B.modBreaks_data[0], |
| 16398 | cartesian_trajectory_planner__B.loop_ub_o * sizeof(real_T)); |
| 16399 | } |
| 16400 | |
| 16401 | cartesian_trajectory_plan_ppval |
| 16402 | (cartesian_trajectory_planner__B.modBreaks_data_f, |
| 16403 | cartesian_trajectory_planner__B.modBreaks_size_b, |
| 16404 | cartesian_trajectory_planner__B.dCoeffs_data, |
| 16405 | cartesian_trajectory_planner__B.num, t, qd_data, qd_size); |
| 16406 | cartesian__polyCoeffsDerivative(cartesian_trajectory_planner__B.dCoeffs_data, |
| 16407 | cartesian_trajectory_planner__B.dCoeffs_size, |
| 16408 | cartesian_trajectory_planner__B.tmp_data, |
| 16409 | cartesian_trajectory_planner__B.tmp_size); |
| 16410 | cartesian_trajectory_planner__B.num[0] = |
| 16411 | cartesian_trajectory_planner__B.num_idx_0_tmp; |
| 16412 | cartesian_trajectory_planner__B.num[1] = |
| 16413 | cartesian_trajectory_planner__B.modBreaks_size[1] - 1; |
| 16414 | cartesian_trajectory_planner__B.num[2] = 3; |
| 16415 | cartesian_trajectory_planner__B.modBreaks_size_l[0] = 1; |
| 16416 | cartesian_trajectory_planner__B.modBreaks_size_l[1] = |
| 16417 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16418 | cartesian_trajectory_planner__B.loop_ub_o = |
| 16419 | cartesian_trajectory_planner__B.modBreaks_size[1]; |
| 16420 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o - 1) { |
| 16421 | memcpy(&cartesian_trajectory_planner__B.modBreaks_data_f[0], |
| 16422 | &cartesian_trajectory_planner__B.modBreaks_data[0], |
| 16423 | cartesian_trajectory_planner__B.loop_ub_o * sizeof(real_T)); |
| 16424 | } |
| 16425 | |
| 16426 | cartesian_trajectory_plan_ppval |
| 16427 | (cartesian_trajectory_planner__B.modBreaks_data_f, |
| 16428 | cartesian_trajectory_planner__B.modBreaks_size_l, |
| 16429 | cartesian_trajectory_planner__B.tmp_data, |
| 16430 | cartesian_trajectory_planner__B.num, t, qdd_data, qdd_size); |
| 16431 | } |
| 16432 | |
| 16433 | static void cartesian_trajector_trapveltraj(const real_T wayPoints[12], const |
| 16434 | real_T varargin_2[6], real_T varargin_4, real_T q[12], real_T qd[12], real_T |
| 16435 | qdd[12], real_T t[2], s_06c2DDfmr4zcnTqhww20ZC_cart_T ppCell_data[], int32_T |
| 16436 | *ppCell_size) |
| 16437 | { |
| 16438 | boolean_T exitg1; |
| 16439 | NameValueParser_NameValueParser(&cartesian_trajectory_planner__B.parser); |
| 16440 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16441 | cartesian_trajectory_planner__B.i_i < 6; |
| 16442 | cartesian_trajectory_planner__B.i_i++) { |
| 16443 | cartesian_trajectory_planner__B.parser.ParsedResults.f1[cartesian_trajectory_planner__B.i_i] |
| 16444 | = varargin_2[cartesian_trajectory_planner__B.i_i]; |
| 16445 | } |
| 16446 | |
| 16447 | cartesian_trajectory_planner__B.parser.ParsedResults.f2 = varargin_4; |
| 16448 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16449 | cartesian_trajectory_planner__B.i_i < 6; |
| 16450 | cartesian_trajectory_planner__B.i_i++) { |
| 16451 | cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.i_i] = |
| 16452 | cartesian_trajectory_planner__B.parser.ParsedResults.f1[cartesian_trajectory_planner__B.i_i]; |
| 16453 | } |
| 16454 | |
| 16455 | cartesian_trajectory_planner__B.acc = |
| 16456 | cartesian_trajectory_planner__B.parser.ParsedResults.f2; |
| 16457 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16458 | cartesian_trajectory_planner__B.i_i < 6; |
| 16459 | cartesian_trajectory_planner__B.i_i++) { |
| 16460 | cartesian_trajectory_planner__B.vel[cartesian_trajectory_planner__B.i_i] = |
| 16461 | cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.i_i]; |
| 16462 | cartesian_trajectory_planner__B.matrixInput_data[cartesian_trajectory_planner__B.i_i] |
| 16463 | = cartesian_trajectory_planner__B.acc; |
| 16464 | } |
| 16465 | |
| 16466 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16467 | cartesian_trajectory_planner__B.i_i < 12; |
| 16468 | cartesian_trajectory_planner__B.i_i++) { |
| 16469 | q[cartesian_trajectory_planner__B.i_i] = 0.0; |
| 16470 | } |
| 16471 | |
| 16472 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16473 | cartesian_trajectory_planner__B.i_i < 12; |
| 16474 | cartesian_trajectory_planner__B.i_i++) { |
| 16475 | qd[cartesian_trajectory_planner__B.i_i] = 0.0; |
| 16476 | } |
| 16477 | |
| 16478 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16479 | cartesian_trajectory_planner__B.i_i < 12; |
| 16480 | cartesian_trajectory_planner__B.i_i++) { |
| 16481 | qdd[cartesian_trajectory_planner__B.i_i] = 0.0; |
| 16482 | } |
| 16483 | |
| 16484 | memset(&cartesian_trajectory_planner__B.coeffMat[0], 0, 54U * sizeof(real_T)); |
| 16485 | memset(&cartesian_trajectory_planner__B.breakMat[0], 0, 24U * sizeof(real_T)); |
| 16486 | for (cartesian_trajectory_planner__B.b_idx = 0; |
| 16487 | cartesian_trajectory_planner__B.b_idx < 6; |
| 16488 | cartesian_trajectory_planner__B.b_idx++) { |
| 16489 | cartesian__computeProfileParams(static_cast<real_T> |
| 16490 | (cartesian_trajectory_planner__B.b_idx) + 1.0, wayPoints, |
| 16491 | cartesian_trajectory_planner__B.vel, |
| 16492 | cartesian_trajectory_planner__B.matrixInput_data, |
| 16493 | &cartesian_trajectory_planner__B.acc, |
| 16494 | &cartesian_trajectory_planner__B.segAcc, |
| 16495 | &cartesian_trajectory_planner__B.segATime, |
| 16496 | &cartesian_trajectory_planner__B.segFTime); |
| 16497 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx] |
| 16498 | = wayPoints[cartesian_trajectory_planner__B.b_idx]; |
| 16499 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16500 | + 6] = wayPoints[cartesian_trajectory_planner__B.b_idx + 6]; |
| 16501 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16502 | + 12] = cartesian_trajectory_planner__B.acc; |
| 16503 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16504 | + 18] = cartesian_trajectory_planner__B.segAcc; |
| 16505 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16506 | + 24] = cartesian_trajectory_planner__B.segATime; |
| 16507 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16508 | + 30] = cartesian_trajectory_planner__B.segFTime; |
| 16509 | c_computeScalarLSPBCoefficients |
| 16510 | (wayPoints[cartesian_trajectory_planner__B.b_idx], |
| 16511 | wayPoints[cartesian_trajectory_planner__B.b_idx + 6], |
| 16512 | cartesian_trajectory_planner__B.acc, |
| 16513 | cartesian_trajectory_planner__B.segAcc, |
| 16514 | cartesian_trajectory_planner__B.segATime, |
| 16515 | cartesian_trajectory_planner__B.segFTime, |
| 16516 | cartesian_trajectory_planner__B.coefs, |
| 16517 | cartesian_trajectory_planner__B.breaks); |
| 16518 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16519 | cartesian_trajectory_planner__B.i_i < 18; |
| 16520 | cartesian_trajectory_planner__B.i_i++) { |
| 16521 | cartesian_trajectory_planner__B.coefIndex[cartesian_trajectory_planner__B.i_i] |
| 16522 | = false; |
| 16523 | } |
| 16524 | |
| 16525 | cartesian_trajectory_planner__B.i_i = cartesian_trajectory_planner__B.b_idx |
| 16526 | + 1; |
| 16527 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp = static_cast< |
| 16528 | int32_T>(floor(static_cast<real_T>((cartesian_trajectory_planner__B.b_idx |
| 16529 | - cartesian_trajectory_planner__B.i_i) + 13) / 6.0)); |
| 16530 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1 = |
| 16531 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp + 1; |
| 16532 | for (cartesian_trajectory_planner__B.indivPolyDim = 0; |
| 16533 | cartesian_trajectory_planner__B.indivPolyDim <= |
| 16534 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16535 | cartesian_trajectory_planner__B.indivPolyDim++) { |
| 16536 | cartesian_trajectory_planner__B.lspbSegIndices_data[cartesian_trajectory_planner__B.indivPolyDim] |
| 16537 | = 6 * cartesian_trajectory_planner__B.indivPolyDim + |
| 16538 | cartesian_trajectory_planner__B.i_i; |
| 16539 | } |
| 16540 | |
| 16541 | cartesian_trajectory_planner__B.indivPolyDim = |
| 16542 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1 - 1; |
| 16543 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16544 | cartesian_trajectory_planner__B.i_i <= |
| 16545 | cartesian_trajectory_planner__B.indivPolyDim; |
| 16546 | cartesian_trajectory_planner__B.i_i++) { |
| 16547 | cartesian_trajectory_planner__B.g_data[cartesian_trajectory_planner__B.i_i] |
| 16548 | = static_cast<int32_T> |
| 16549 | (cartesian_trajectory_planner__B.lspbSegIndices_data[cartesian_trajectory_planner__B.i_i]); |
| 16550 | } |
| 16551 | |
| 16552 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16553 | cartesian_trajectory_planner__B.i_i < |
| 16554 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1; |
| 16555 | cartesian_trajectory_planner__B.i_i++) { |
| 16556 | cartesian_trajectory_planner__B.coefIndex[cartesian_trajectory_planner__B.g_data |
| 16557 | [cartesian_trajectory_planner__B.i_i] - 1] = true; |
| 16558 | } |
| 16559 | |
| 16560 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1 = 0; |
| 16561 | cartesian_trajectory_planner__B.indivPolyDim = 0; |
| 16562 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16563 | cartesian_trajectory_planner__B.i_i < 18; |
| 16564 | cartesian_trajectory_planner__B.i_i++) { |
| 16565 | if (cartesian_trajectory_planner__B.coefIndex[cartesian_trajectory_planner__B.i_i]) |
| 16566 | { |
| 16567 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1++; |
| 16568 | cartesian_trajectory_planner__B.o_data[cartesian_trajectory_planner__B.indivPolyDim] |
| 16569 | = static_cast<int8_T>(cartesian_trajectory_planner__B.i_i + 1); |
| 16570 | cartesian_trajectory_planner__B.indivPolyDim++; |
| 16571 | } |
| 16572 | } |
| 16573 | |
| 16574 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16575 | cartesian_trajectory_planner__B.i_i < 3; |
| 16576 | cartesian_trajectory_planner__B.i_i++) { |
| 16577 | for (cartesian_trajectory_planner__B.indivPolyDim = 0; |
| 16578 | cartesian_trajectory_planner__B.indivPolyDim < |
| 16579 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1; |
| 16580 | cartesian_trajectory_planner__B.indivPolyDim++) { |
| 16581 | cartesian_trajectory_planner__B.coeffMat |
| 16582 | [(cartesian_trajectory_planner__B.o_data[cartesian_trajectory_planner__B.indivPolyDim] |
| 16583 | + 18 * cartesian_trajectory_planner__B.i_i) - 1] = |
| 16584 | cartesian_trajectory_planner__B.coefs[cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1 |
| 16585 | * cartesian_trajectory_planner__B.i_i + |
| 16586 | cartesian_trajectory_planner__B.indivPolyDim]; |
| 16587 | } |
| 16588 | } |
| 16589 | |
| 16590 | cartesian_trajectory_planner__B.acc = |
| 16591 | cartesian_trajectory_planner__B.breakMat[cartesian_trajectory_planner__B.b_idx]; |
| 16592 | cartesian_trajectory_planner__B.breakMat[cartesian_trajectory_planner__B.b_idx] |
| 16593 | += cartesian_trajectory_planner__B.breaks[0]; |
| 16594 | cartesian_trajectory_planner__B.breakMat[cartesian_trajectory_planner__B.b_idx |
| 16595 | + 6] = cartesian_trajectory_planner__B.breaks[1] + |
| 16596 | cartesian_trajectory_planner__B.acc; |
| 16597 | cartesian_trajectory_planner__B.breakMat[cartesian_trajectory_planner__B.b_idx |
| 16598 | + 12] = cartesian_trajectory_planner__B.breaks[2] + |
| 16599 | cartesian_trajectory_planner__B.acc; |
| 16600 | cartesian_trajectory_planner__B.breakMat[cartesian_trajectory_planner__B.b_idx |
| 16601 | + 18] = cartesian_trajectory_planner__B.breaks[3] + |
| 16602 | cartesian_trajectory_planner__B.acc; |
| 16603 | cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.b_idx] = |
| 16604 | cartesian_trajectory_planner__B.parameterMat[cartesian_trajectory_planner__B.b_idx |
| 16605 | + 30]; |
| 16606 | } |
| 16607 | |
| 16608 | cartesian_trajectory_planner__B.hasMultipleBreaks = |
| 16609 | cart_checkPolyForMultipleBreaks(cartesian_trajectory_planner__B.breakMat); |
| 16610 | cartes_processPolynomialResults(cartesian_trajectory_planner__B.breakMat, |
| 16611 | cartesian_trajectory_planner__B.coeffMat, |
| 16612 | cartesian_trajectory_planner__B.hasMultipleBreaks, |
| 16613 | cartesian_trajectory_planner__B.breaksCell, |
| 16614 | cartesian_trajectory_planner__B.coeffsCell); |
| 16615 | if (!rtIsNaN(cartesian_trajectory_planner__B.a[0])) { |
| 16616 | cartesian_trajectory_planner__B.b_idx = 1; |
| 16617 | } else { |
| 16618 | cartesian_trajectory_planner__B.b_idx = 0; |
| 16619 | cartesian_trajectory_planner__B.i_i = 2; |
| 16620 | exitg1 = false; |
| 16621 | while ((!exitg1) && (cartesian_trajectory_planner__B.i_i < 7)) { |
| 16622 | if (!rtIsNaN |
| 16623 | (cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.i_i |
| 16624 | - 1])) { |
| 16625 | cartesian_trajectory_planner__B.b_idx = |
| 16626 | cartesian_trajectory_planner__B.i_i; |
| 16627 | exitg1 = true; |
| 16628 | } else { |
| 16629 | cartesian_trajectory_planner__B.i_i++; |
| 16630 | } |
| 16631 | } |
| 16632 | } |
| 16633 | |
| 16634 | if (cartesian_trajectory_planner__B.b_idx == 0) { |
| 16635 | t[1] = cartesian_trajectory_planner__B.a[0]; |
| 16636 | } else { |
| 16637 | cartesian_trajectory_planner__B.segAcc = |
| 16638 | cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.b_idx - |
| 16639 | 1]; |
| 16640 | for (cartesian_trajectory_planner__B.i_i = |
| 16641 | cartesian_trajectory_planner__B.b_idx + 1; |
| 16642 | cartesian_trajectory_planner__B.i_i < 7; |
| 16643 | cartesian_trajectory_planner__B.i_i++) { |
| 16644 | cartesian_trajectory_planner__B.acc = |
| 16645 | cartesian_trajectory_planner__B.a[cartesian_trajectory_planner__B.i_i - |
| 16646 | 1]; |
| 16647 | if (cartesian_trajectory_planner__B.segAcc < |
| 16648 | cartesian_trajectory_planner__B.acc) { |
| 16649 | cartesian_trajectory_planner__B.segAcc = |
| 16650 | cartesian_trajectory_planner__B.acc; |
| 16651 | } |
| 16652 | } |
| 16653 | |
| 16654 | t[1] = cartesian_trajectory_planner__B.segAcc; |
| 16655 | } |
| 16656 | |
| 16657 | t[0] = 0.0; |
| 16658 | if (cartesian_trajectory_planner__B.hasMultipleBreaks) { |
| 16659 | cartesian_trajectory_planner__B.i_i = 6; |
| 16660 | cartesian_trajectory_planner__B.indivPolyDim = 1; |
| 16661 | } else { |
| 16662 | cartesian_trajectory_planner__B.i_i = 1; |
| 16663 | cartesian_trajectory_planner__B.indivPolyDim = 6; |
| 16664 | } |
| 16665 | |
| 16666 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1 = |
| 16667 | cartesian_trajectory_planner__B.i_i - 1; |
| 16668 | *ppCell_size = cartesian_trajectory_planner__B.i_i; |
| 16669 | for (cartesian_trajectory_planner__B.b_idx = 0; |
| 16670 | cartesian_trajectory_planner__B.b_idx <= |
| 16671 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1; |
| 16672 | cartesian_trajectory_planner__B.b_idx++) { |
| 16673 | if (cartesian_trajectory_planner__B.hasMultipleBreaks) { |
| 16674 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp = 1; |
| 16675 | cartesian_trajectory_planner__B.rowSelection_data[0] = static_cast<int8_T> |
| 16676 | (cartesian_trajectory_planner__B.b_idx + 1); |
| 16677 | cartesian_trajectory_planner__B.i_i = |
| 16678 | cartesian_trajectory_planner__B.b_idx + 1; |
| 16679 | } else { |
| 16680 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp = 6; |
| 16681 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16682 | cartesian_trajectory_planner__B.i_i < 6; |
| 16683 | cartesian_trajectory_planner__B.i_i++) { |
| 16684 | cartesian_trajectory_planner__B.rowSelection_data[cartesian_trajectory_planner__B.i_i] |
| 16685 | = static_cast<int8_T>(cartesian_trajectory_planner__B.i_i + 1); |
| 16686 | } |
| 16687 | |
| 16688 | cartesian_trajectory_planner__B.i_i = 1; |
| 16689 | } |
| 16690 | |
| 16691 | c_generateTrajectoriesFromCoefs |
| 16692 | (cartesian_trajectory_planner__B.breaksCell[cartesian_trajectory_planner__B.i_i |
| 16693 | - 1].f1.data, |
| 16694 | cartesian_trajectory_planner__B.breaksCell[cartesian_trajectory_planner__B.i_i |
| 16695 | - 1].f1.size, |
| 16696 | cartesian_trajectory_planner__B.coeffsCell[cartesian_trajectory_planner__B.i_i |
| 16697 | - 1].f1.data, |
| 16698 | cartesian_trajectory_planner__B.coeffsCell[cartesian_trajectory_planner__B.i_i |
| 16699 | - 1].f1.size, static_cast<real_T> |
| 16700 | (cartesian_trajectory_planner__B.indivPolyDim), t, |
| 16701 | cartesian_trajectory_planner__B.b_data_cv, |
| 16702 | cartesian_trajectory_planner__B.b_size, |
| 16703 | cartesian_trajectory_planner__B.c_data, |
| 16704 | cartesian_trajectory_planner__B.c_size, |
| 16705 | cartesian_trajectory_planner__B.d_data, |
| 16706 | cartesian_trajectory_planner__B.d_size, |
| 16707 | ppCell_data[cartesian_trajectory_planner__B.b_idx].breaks.data, |
| 16708 | ppCell_data[cartesian_trajectory_planner__B.b_idx].breaks.size, |
| 16709 | ppCell_data[cartesian_trajectory_planner__B.b_idx].coefs.data, |
| 16710 | ppCell_data[cartesian_trajectory_planner__B.b_idx].coefs.size); |
| 16711 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16712 | cartesian_trajectory_planner__B.i_i < |
| 16713 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16714 | cartesian_trajectory_planner__B.i_i++) { |
| 16715 | cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i] |
| 16716 | = static_cast<int8_T> |
| 16717 | (cartesian_trajectory_planner__B.rowSelection_data[cartesian_trajectory_planner__B.i_i] |
| 16718 | - 1); |
| 16719 | } |
| 16720 | |
| 16721 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16722 | cartesian_trajectory_planner__B.i_i < |
| 16723 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16724 | cartesian_trajectory_planner__B.i_i++) { |
| 16725 | q[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i]] |
| 16726 | = |
| 16727 | cartesian_trajectory_planner__B.b_data_cv[cartesian_trajectory_planner__B.i_i]; |
| 16728 | } |
| 16729 | |
| 16730 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16731 | cartesian_trajectory_planner__B.i_i < |
| 16732 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16733 | cartesian_trajectory_planner__B.i_i++) { |
| 16734 | q[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i] |
| 16735 | + 6] = |
| 16736 | cartesian_trajectory_planner__B.b_data_cv[cartesian_trajectory_planner__B.i_i |
| 16737 | + cartesian_trajectory_planner__B.b_size[0]]; |
| 16738 | } |
| 16739 | |
| 16740 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16741 | cartesian_trajectory_planner__B.i_i < |
| 16742 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16743 | cartesian_trajectory_planner__B.i_i++) { |
| 16744 | qd[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i]] |
| 16745 | = |
| 16746 | cartesian_trajectory_planner__B.c_data[cartesian_trajectory_planner__B.i_i]; |
| 16747 | } |
| 16748 | |
| 16749 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16750 | cartesian_trajectory_planner__B.i_i < |
| 16751 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16752 | cartesian_trajectory_planner__B.i_i++) { |
| 16753 | qd[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i] |
| 16754 | + 6] = |
| 16755 | cartesian_trajectory_planner__B.c_data[cartesian_trajectory_planner__B.i_i |
| 16756 | + cartesian_trajectory_planner__B.c_size[0]]; |
| 16757 | } |
| 16758 | |
| 16759 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16760 | cartesian_trajectory_planner__B.i_i < |
| 16761 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16762 | cartesian_trajectory_planner__B.i_i++) { |
| 16763 | qdd[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i]] |
| 16764 | = |
| 16765 | cartesian_trajectory_planner__B.d_data[cartesian_trajectory_planner__B.i_i]; |
| 16766 | } |
| 16767 | |
| 16768 | for (cartesian_trajectory_planner__B.i_i = 0; |
| 16769 | cartesian_trajectory_planner__B.i_i < |
| 16770 | cartesian_trajectory_planner__B.lspbSegIndices_size_idx_1_tmp; |
| 16771 | cartesian_trajectory_planner__B.i_i++) { |
| 16772 | qdd[cartesian_trajectory_planner__B.l_tmp_data[cartesian_trajectory_planner__B.i_i] |
| 16773 | + 6] = |
| 16774 | cartesian_trajectory_planner__B.d_data[cartesian_trajectory_planner__B.i_i |
| 16775 | + cartesian_trajectory_planner__B.d_size[0]]; |
| 16776 | } |
| 16777 | } |
| 16778 | } |
| 16779 | |
| 16780 | static void TrapVelTrajSys_extract1DimFromP(const real_T pp_breaks_data[], const |
| 16781 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 16782 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 16783 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 16784 | { |
| 16785 | static const boolean_T tmp[6] = { true, false, false, false, false, false }; |
| 16786 | |
| 16787 | breaks_size[0] = 1; |
| 16788 | breaks_size[1] = pp_breaks_size[1]; |
| 16789 | cartesian_trajectory_planner__B.loop_ub_l = pp_breaks_size[1]; |
| 16790 | if (0 <= cartesian_trajectory_planner__B.loop_ub_l - 1) { |
| 16791 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 16792 | cartesian_trajectory_planner__B.loop_ub_l * sizeof(real_T)); |
| 16793 | } |
| 16794 | |
| 16795 | for (cartesian_trajectory_planner__B.i_o3 = 0; |
| 16796 | cartesian_trajectory_planner__B.i_o3 < 6; |
| 16797 | cartesian_trajectory_planner__B.i_o3++) { |
| 16798 | cartesian_trajectory_planner__B.a_ju[cartesian_trajectory_planner__B.i_o3] = |
| 16799 | tmp[cartesian_trajectory_planner__B.i_o3]; |
| 16800 | } |
| 16801 | |
| 16802 | cartesian_trajectory_planner__B.ntilerows_g = pp_breaks_size[1] - 2; |
| 16803 | for (cartesian_trajectory_planner__B.loop_ub_l = 0; |
| 16804 | cartesian_trajectory_planner__B.loop_ub_l <= |
| 16805 | cartesian_trajectory_planner__B.ntilerows_g; |
| 16806 | cartesian_trajectory_planner__B.loop_ub_l++) { |
| 16807 | cartesian_trajectory_planner__B.ibcol_co = |
| 16808 | cartesian_trajectory_planner__B.loop_ub_l * 6 - 1; |
| 16809 | for (cartesian_trajectory_planner__B.i_o3 = 0; |
| 16810 | cartesian_trajectory_planner__B.i_o3 < 6; |
| 16811 | cartesian_trajectory_planner__B.i_o3++) { |
| 16812 | cartesian_trajectory_planner__B.coeffIndex_data_l |
| 16813 | [(cartesian_trajectory_planner__B.ibcol_co + |
| 16814 | cartesian_trajectory_planner__B.i_o3) + 1] = |
| 16815 | cartesian_trajectory_planner__B.a_ju[cartesian_trajectory_planner__B.i_o3]; |
| 16816 | } |
| 16817 | } |
| 16818 | |
| 16819 | cartesian_trajectory_planner__B.ntilerows_g = (pp_breaks_size[1] - 1) * 6 - 1; |
| 16820 | cartesian_trajectory_planner__B.loop_ub_l = 0; |
| 16821 | cartesian_trajectory_planner__B.ibcol_co = 0; |
| 16822 | for (cartesian_trajectory_planner__B.i_o3 = 0; |
| 16823 | cartesian_trajectory_planner__B.i_o3 <= |
| 16824 | cartesian_trajectory_planner__B.ntilerows_g; |
| 16825 | cartesian_trajectory_planner__B.i_o3++) { |
| 16826 | if (cartesian_trajectory_planner__B.coeffIndex_data_l[cartesian_trajectory_planner__B.i_o3]) |
| 16827 | { |
| 16828 | cartesian_trajectory_planner__B.loop_ub_l++; |
| 16829 | cartesian_trajectory_planner__B.b_data_p[cartesian_trajectory_planner__B.ibcol_co] |
| 16830 | = cartesian_trajectory_planner__B.i_o3 + 1; |
| 16831 | cartesian_trajectory_planner__B.ibcol_co++; |
| 16832 | } |
| 16833 | } |
| 16834 | |
| 16835 | cartesian_trajectory_planner__B.ibcol_co = div_nzp_s32(pp_coefs_size[0] * |
| 16836 | pp_coefs_size[1] * 3, 3); |
| 16837 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_l; |
| 16838 | oneDimCoeffs_size[1] = 3; |
| 16839 | for (cartesian_trajectory_planner__B.i_o3 = 0; |
| 16840 | cartesian_trajectory_planner__B.i_o3 < 3; |
| 16841 | cartesian_trajectory_planner__B.i_o3++) { |
| 16842 | for (cartesian_trajectory_planner__B.ntilerows_g = 0; |
| 16843 | cartesian_trajectory_planner__B.ntilerows_g < |
| 16844 | cartesian_trajectory_planner__B.loop_ub_l; |
| 16845 | cartesian_trajectory_planner__B.ntilerows_g++) { |
| 16846 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows_g + |
| 16847 | cartesian_trajectory_planner__B.loop_ub_l * |
| 16848 | cartesian_trajectory_planner__B.i_o3] = pp_coefs_data |
| 16849 | [(cartesian_trajectory_planner__B.ibcol_co * |
| 16850 | cartesian_trajectory_planner__B.i_o3 + |
| 16851 | cartesian_trajectory_planner__B.b_data_p[cartesian_trajectory_planner__B.ntilerows_g]) |
| 16852 | - 1]; |
| 16853 | } |
| 16854 | } |
| 16855 | } |
| 16856 | |
| 16857 | static void cartesian_trajectory_pl_ppval_j(const real_T pp_breaks_data[], const |
| 16858 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], real_T x, real_T |
| 16859 | v_data[], int32_T *v_size) |
| 16860 | { |
| 16861 | *v_size = 1; |
| 16862 | if (rtIsNaN(x)) { |
| 16863 | v_data[0] = x; |
| 16864 | } else { |
| 16865 | cartesian_trajectory_planner__B.ip = cartesian_trajectory_pl_bsearch |
| 16866 | (pp_breaks_data, pp_breaks_size, x) - 1; |
| 16867 | cartesian_trajectory_planner__B.xloc = x - |
| 16868 | pp_breaks_data[cartesian_trajectory_planner__B.ip]; |
| 16869 | v_data[0] = (pp_coefs_data[(cartesian_trajectory_planner__B.ip + |
| 16870 | pp_breaks_size[1]) - 1] + cartesian_trajectory_planner__B.xloc * |
| 16871 | pp_coefs_data[cartesian_trajectory_planner__B.ip]) * |
| 16872 | cartesian_trajectory_planner__B.xloc + pp_coefs_data[((pp_breaks_size[1] - |
| 16873 | 1) << 1) + cartesian_trajectory_planner__B.ip]; |
| 16874 | } |
| 16875 | } |
| 16876 | |
| 16877 | static void TrapVelTrajSys_generate1DTrajec(const real_T breaks_data[], const |
| 16878 | int32_T breaks_size[2], const real_T coefs_data[], const int32_T coefs_size[2], |
| 16879 | real_T t, real_T q_data[], int32_T *q_size, real_T qd_data[], int32_T *qd_size, |
| 16880 | real_T qdd_data[], int32_T *qdd_size) |
| 16881 | { |
| 16882 | cartesian__polyCoeffsDerivative(coefs_data, coefs_size, |
| 16883 | cartesian_trajectory_planner__B.dCoefs_data, |
| 16884 | cartesian_trajectory_planner__B.dCoefs_size); |
| 16885 | cartesian_trajectory_planner__B.breaks_size_h[0] = 1; |
| 16886 | cartesian_trajectory_planner__B.breaks_size_h[1] = breaks_size[1]; |
| 16887 | cartesian_trajectory_planner__B.loop_ub_m3 = breaks_size[1]; |
| 16888 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m3 - 1) { |
| 16889 | memcpy(&cartesian_trajectory_planner__B.breaks_data_g[0], &breaks_data[0], |
| 16890 | cartesian_trajectory_planner__B.loop_ub_m3 * sizeof(real_T)); |
| 16891 | } |
| 16892 | |
| 16893 | cartesian_trajectory_pl_ppval_j(cartesian_trajectory_planner__B.breaks_data_g, |
| 16894 | cartesian_trajectory_planner__B.breaks_size_h, coefs_data, t, q_data, q_size); |
| 16895 | cartesian_trajectory_planner__B.breaks_size_b[0] = 1; |
| 16896 | cartesian_trajectory_planner__B.breaks_size_b[1] = breaks_size[1]; |
| 16897 | cartesian_trajectory_planner__B.loop_ub_m3 = breaks_size[1]; |
| 16898 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m3 - 1) { |
| 16899 | memcpy(&cartesian_trajectory_planner__B.breaks_data_g[0], &breaks_data[0], |
| 16900 | cartesian_trajectory_planner__B.loop_ub_m3 * sizeof(real_T)); |
| 16901 | } |
| 16902 | |
| 16903 | cartesian_trajectory_pl_ppval_j(cartesian_trajectory_planner__B.breaks_data_g, |
| 16904 | cartesian_trajectory_planner__B.breaks_size_b, |
| 16905 | cartesian_trajectory_planner__B.dCoefs_data, t, qd_data, qd_size); |
| 16906 | cartesian__polyCoeffsDerivative(cartesian_trajectory_planner__B.dCoefs_data, |
| 16907 | cartesian_trajectory_planner__B.dCoefs_size, |
| 16908 | cartesian_trajectory_planner__B.tmp_data_m, |
| 16909 | cartesian_trajectory_planner__B.breaks_size_h); |
| 16910 | cartesian_trajectory_planner__B.breaks_size_d[0] = 1; |
| 16911 | cartesian_trajectory_planner__B.breaks_size_d[1] = breaks_size[1]; |
| 16912 | cartesian_trajectory_planner__B.loop_ub_m3 = breaks_size[1]; |
| 16913 | if (0 <= cartesian_trajectory_planner__B.loop_ub_m3 - 1) { |
| 16914 | memcpy(&cartesian_trajectory_planner__B.breaks_data_g[0], &breaks_data[0], |
| 16915 | cartesian_trajectory_planner__B.loop_ub_m3 * sizeof(real_T)); |
| 16916 | } |
| 16917 | |
| 16918 | cartesian_trajectory_pl_ppval_j(cartesian_trajectory_planner__B.breaks_data_g, |
| 16919 | cartesian_trajectory_planner__B.breaks_size_d, |
| 16920 | cartesian_trajectory_planner__B.tmp_data_m, t, qdd_data, qdd_size); |
| 16921 | } |
| 16922 | |
| 16923 | static void TrapVelTrajSys_extract1DimFro_j(const real_T pp_breaks_data[], const |
| 16924 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 16925 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 16926 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 16927 | { |
| 16928 | static const boolean_T tmp[6] = { false, true, false, false, false, false }; |
| 16929 | |
| 16930 | breaks_size[0] = 1; |
| 16931 | breaks_size[1] = pp_breaks_size[1]; |
| 16932 | cartesian_trajectory_planner__B.loop_ub_f = pp_breaks_size[1]; |
| 16933 | if (0 <= cartesian_trajectory_planner__B.loop_ub_f - 1) { |
| 16934 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 16935 | cartesian_trajectory_planner__B.loop_ub_f * sizeof(real_T)); |
| 16936 | } |
| 16937 | |
| 16938 | for (cartesian_trajectory_planner__B.i_iz = 0; |
| 16939 | cartesian_trajectory_planner__B.i_iz < 6; |
| 16940 | cartesian_trajectory_planner__B.i_iz++) { |
| 16941 | cartesian_trajectory_planner__B.a_a[cartesian_trajectory_planner__B.i_iz] = |
| 16942 | tmp[cartesian_trajectory_planner__B.i_iz]; |
| 16943 | } |
| 16944 | |
| 16945 | cartesian_trajectory_planner__B.ntilerows_ip = pp_breaks_size[1] - 2; |
| 16946 | for (cartesian_trajectory_planner__B.loop_ub_f = 0; |
| 16947 | cartesian_trajectory_planner__B.loop_ub_f <= |
| 16948 | cartesian_trajectory_planner__B.ntilerows_ip; |
| 16949 | cartesian_trajectory_planner__B.loop_ub_f++) { |
| 16950 | cartesian_trajectory_planner__B.ibcol_f = |
| 16951 | cartesian_trajectory_planner__B.loop_ub_f * 6 - 1; |
| 16952 | for (cartesian_trajectory_planner__B.i_iz = 0; |
| 16953 | cartesian_trajectory_planner__B.i_iz < 6; |
| 16954 | cartesian_trajectory_planner__B.i_iz++) { |
| 16955 | cartesian_trajectory_planner__B.coeffIndex_data_p |
| 16956 | [(cartesian_trajectory_planner__B.ibcol_f + |
| 16957 | cartesian_trajectory_planner__B.i_iz) + 1] = |
| 16958 | cartesian_trajectory_planner__B.a_a[cartesian_trajectory_planner__B.i_iz]; |
| 16959 | } |
| 16960 | } |
| 16961 | |
| 16962 | cartesian_trajectory_planner__B.ntilerows_ip = (pp_breaks_size[1] - 1) * 6 - 1; |
| 16963 | cartesian_trajectory_planner__B.loop_ub_f = 0; |
| 16964 | cartesian_trajectory_planner__B.ibcol_f = 0; |
| 16965 | for (cartesian_trajectory_planner__B.i_iz = 0; |
| 16966 | cartesian_trajectory_planner__B.i_iz <= |
| 16967 | cartesian_trajectory_planner__B.ntilerows_ip; |
| 16968 | cartesian_trajectory_planner__B.i_iz++) { |
| 16969 | if (cartesian_trajectory_planner__B.coeffIndex_data_p[cartesian_trajectory_planner__B.i_iz]) |
| 16970 | { |
| 16971 | cartesian_trajectory_planner__B.loop_ub_f++; |
| 16972 | cartesian_trajectory_planner__B.b_data_b[cartesian_trajectory_planner__B.ibcol_f] |
| 16973 | = cartesian_trajectory_planner__B.i_iz + 1; |
| 16974 | cartesian_trajectory_planner__B.ibcol_f++; |
| 16975 | } |
| 16976 | } |
| 16977 | |
| 16978 | cartesian_trajectory_planner__B.ibcol_f = div_nzp_s32(pp_coefs_size[0] * |
| 16979 | pp_coefs_size[1] * 3, 3); |
| 16980 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_f; |
| 16981 | oneDimCoeffs_size[1] = 3; |
| 16982 | for (cartesian_trajectory_planner__B.i_iz = 0; |
| 16983 | cartesian_trajectory_planner__B.i_iz < 3; |
| 16984 | cartesian_trajectory_planner__B.i_iz++) { |
| 16985 | for (cartesian_trajectory_planner__B.ntilerows_ip = 0; |
| 16986 | cartesian_trajectory_planner__B.ntilerows_ip < |
| 16987 | cartesian_trajectory_planner__B.loop_ub_f; |
| 16988 | cartesian_trajectory_planner__B.ntilerows_ip++) { |
| 16989 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows_ip + |
| 16990 | cartesian_trajectory_planner__B.loop_ub_f * |
| 16991 | cartesian_trajectory_planner__B.i_iz] = pp_coefs_data |
| 16992 | [(cartesian_trajectory_planner__B.ibcol_f * |
| 16993 | cartesian_trajectory_planner__B.i_iz + |
| 16994 | cartesian_trajectory_planner__B.b_data_b[cartesian_trajectory_planner__B.ntilerows_ip]) |
| 16995 | - 1]; |
| 16996 | } |
| 16997 | } |
| 16998 | } |
| 16999 | |
| 17000 | static void TrapVelTrajSys_extract1DimFr_jb(const real_T pp_breaks_data[], const |
| 17001 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 17002 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 17003 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 17004 | { |
| 17005 | static const boolean_T tmp[6] = { false, false, true, false, false, false }; |
| 17006 | |
| 17007 | breaks_size[0] = 1; |
| 17008 | breaks_size[1] = pp_breaks_size[1]; |
| 17009 | cartesian_trajectory_planner__B.loop_ub_o2 = pp_breaks_size[1]; |
| 17010 | if (0 <= cartesian_trajectory_planner__B.loop_ub_o2 - 1) { |
| 17011 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 17012 | cartesian_trajectory_planner__B.loop_ub_o2 * sizeof(real_T)); |
| 17013 | } |
| 17014 | |
| 17015 | for (cartesian_trajectory_planner__B.i_o = 0; |
| 17016 | cartesian_trajectory_planner__B.i_o < 6; |
| 17017 | cartesian_trajectory_planner__B.i_o++) { |
| 17018 | cartesian_trajectory_planner__B.a_f[cartesian_trajectory_planner__B.i_o] = |
| 17019 | tmp[cartesian_trajectory_planner__B.i_o]; |
| 17020 | } |
| 17021 | |
| 17022 | cartesian_trajectory_planner__B.ntilerows_i = pp_breaks_size[1] - 2; |
| 17023 | for (cartesian_trajectory_planner__B.loop_ub_o2 = 0; |
| 17024 | cartesian_trajectory_planner__B.loop_ub_o2 <= |
| 17025 | cartesian_trajectory_planner__B.ntilerows_i; |
| 17026 | cartesian_trajectory_planner__B.loop_ub_o2++) { |
| 17027 | cartesian_trajectory_planner__B.ibcol_l = |
| 17028 | cartesian_trajectory_planner__B.loop_ub_o2 * 6 - 1; |
| 17029 | for (cartesian_trajectory_planner__B.i_o = 0; |
| 17030 | cartesian_trajectory_planner__B.i_o < 6; |
| 17031 | cartesian_trajectory_planner__B.i_o++) { |
| 17032 | cartesian_trajectory_planner__B.coeffIndex_data_n |
| 17033 | [(cartesian_trajectory_planner__B.ibcol_l + |
| 17034 | cartesian_trajectory_planner__B.i_o) + 1] = |
| 17035 | cartesian_trajectory_planner__B.a_f[cartesian_trajectory_planner__B.i_o]; |
| 17036 | } |
| 17037 | } |
| 17038 | |
| 17039 | cartesian_trajectory_planner__B.ntilerows_i = (pp_breaks_size[1] - 1) * 6 - 1; |
| 17040 | cartesian_trajectory_planner__B.loop_ub_o2 = 0; |
| 17041 | cartesian_trajectory_planner__B.ibcol_l = 0; |
| 17042 | for (cartesian_trajectory_planner__B.i_o = 0; |
| 17043 | cartesian_trajectory_planner__B.i_o <= |
| 17044 | cartesian_trajectory_planner__B.ntilerows_i; |
| 17045 | cartesian_trajectory_planner__B.i_o++) { |
| 17046 | if (cartesian_trajectory_planner__B.coeffIndex_data_n[cartesian_trajectory_planner__B.i_o]) |
| 17047 | { |
| 17048 | cartesian_trajectory_planner__B.loop_ub_o2++; |
| 17049 | cartesian_trajectory_planner__B.b_data_cx[cartesian_trajectory_planner__B.ibcol_l] |
| 17050 | = cartesian_trajectory_planner__B.i_o + 1; |
| 17051 | cartesian_trajectory_planner__B.ibcol_l++; |
| 17052 | } |
| 17053 | } |
| 17054 | |
| 17055 | cartesian_trajectory_planner__B.ibcol_l = div_nzp_s32(pp_coefs_size[0] * |
| 17056 | pp_coefs_size[1] * 3, 3); |
| 17057 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_o2; |
| 17058 | oneDimCoeffs_size[1] = 3; |
| 17059 | for (cartesian_trajectory_planner__B.i_o = 0; |
| 17060 | cartesian_trajectory_planner__B.i_o < 3; |
| 17061 | cartesian_trajectory_planner__B.i_o++) { |
| 17062 | for (cartesian_trajectory_planner__B.ntilerows_i = 0; |
| 17063 | cartesian_trajectory_planner__B.ntilerows_i < |
| 17064 | cartesian_trajectory_planner__B.loop_ub_o2; |
| 17065 | cartesian_trajectory_planner__B.ntilerows_i++) { |
| 17066 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows_i + |
| 17067 | cartesian_trajectory_planner__B.loop_ub_o2 * |
| 17068 | cartesian_trajectory_planner__B.i_o] = pp_coefs_data |
| 17069 | [(cartesian_trajectory_planner__B.ibcol_l * |
| 17070 | cartesian_trajectory_planner__B.i_o + |
| 17071 | cartesian_trajectory_planner__B.b_data_cx[cartesian_trajectory_planner__B.ntilerows_i]) |
| 17072 | - 1]; |
| 17073 | } |
| 17074 | } |
| 17075 | } |
| 17076 | |
| 17077 | static void TrapVelTrajSys_extract1DimF_jbz(const real_T pp_breaks_data[], const |
| 17078 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 17079 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 17080 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 17081 | { |
| 17082 | static const boolean_T tmp[6] = { false, false, false, true, false, false }; |
| 17083 | |
| 17084 | breaks_size[0] = 1; |
| 17085 | breaks_size[1] = pp_breaks_size[1]; |
| 17086 | cartesian_trajectory_planner__B.loop_ub_a = pp_breaks_size[1]; |
| 17087 | if (0 <= cartesian_trajectory_planner__B.loop_ub_a - 1) { |
| 17088 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 17089 | cartesian_trajectory_planner__B.loop_ub_a * sizeof(real_T)); |
| 17090 | } |
| 17091 | |
| 17092 | for (cartesian_trajectory_planner__B.i_a = 0; |
| 17093 | cartesian_trajectory_planner__B.i_a < 6; |
| 17094 | cartesian_trajectory_planner__B.i_a++) { |
| 17095 | cartesian_trajectory_planner__B.a_j[cartesian_trajectory_planner__B.i_a] = |
| 17096 | tmp[cartesian_trajectory_planner__B.i_a]; |
| 17097 | } |
| 17098 | |
| 17099 | cartesian_trajectory_planner__B.ntilerows_a = pp_breaks_size[1] - 2; |
| 17100 | for (cartesian_trajectory_planner__B.loop_ub_a = 0; |
| 17101 | cartesian_trajectory_planner__B.loop_ub_a <= |
| 17102 | cartesian_trajectory_planner__B.ntilerows_a; |
| 17103 | cartesian_trajectory_planner__B.loop_ub_a++) { |
| 17104 | cartesian_trajectory_planner__B.ibcol_e = |
| 17105 | cartesian_trajectory_planner__B.loop_ub_a * 6 - 1; |
| 17106 | for (cartesian_trajectory_planner__B.i_a = 0; |
| 17107 | cartesian_trajectory_planner__B.i_a < 6; |
| 17108 | cartesian_trajectory_planner__B.i_a++) { |
| 17109 | cartesian_trajectory_planner__B.coeffIndex_data_m |
| 17110 | [(cartesian_trajectory_planner__B.ibcol_e + |
| 17111 | cartesian_trajectory_planner__B.i_a) + 1] = |
| 17112 | cartesian_trajectory_planner__B.a_j[cartesian_trajectory_planner__B.i_a]; |
| 17113 | } |
| 17114 | } |
| 17115 | |
| 17116 | cartesian_trajectory_planner__B.ntilerows_a = (pp_breaks_size[1] - 1) * 6 - 1; |
| 17117 | cartesian_trajectory_planner__B.loop_ub_a = 0; |
| 17118 | cartesian_trajectory_planner__B.ibcol_e = 0; |
| 17119 | for (cartesian_trajectory_planner__B.i_a = 0; |
| 17120 | cartesian_trajectory_planner__B.i_a <= |
| 17121 | cartesian_trajectory_planner__B.ntilerows_a; |
| 17122 | cartesian_trajectory_planner__B.i_a++) { |
| 17123 | if (cartesian_trajectory_planner__B.coeffIndex_data_m[cartesian_trajectory_planner__B.i_a]) |
| 17124 | { |
| 17125 | cartesian_trajectory_planner__B.loop_ub_a++; |
| 17126 | cartesian_trajectory_planner__B.b_data_k[cartesian_trajectory_planner__B.ibcol_e] |
| 17127 | = cartesian_trajectory_planner__B.i_a + 1; |
| 17128 | cartesian_trajectory_planner__B.ibcol_e++; |
| 17129 | } |
| 17130 | } |
| 17131 | |
| 17132 | cartesian_trajectory_planner__B.ibcol_e = div_nzp_s32(pp_coefs_size[0] * |
| 17133 | pp_coefs_size[1] * 3, 3); |
| 17134 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_a; |
| 17135 | oneDimCoeffs_size[1] = 3; |
| 17136 | for (cartesian_trajectory_planner__B.i_a = 0; |
| 17137 | cartesian_trajectory_planner__B.i_a < 3; |
| 17138 | cartesian_trajectory_planner__B.i_a++) { |
| 17139 | for (cartesian_trajectory_planner__B.ntilerows_a = 0; |
| 17140 | cartesian_trajectory_planner__B.ntilerows_a < |
| 17141 | cartesian_trajectory_planner__B.loop_ub_a; |
| 17142 | cartesian_trajectory_planner__B.ntilerows_a++) { |
| 17143 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows_a + |
| 17144 | cartesian_trajectory_planner__B.loop_ub_a * |
| 17145 | cartesian_trajectory_planner__B.i_a] = pp_coefs_data |
| 17146 | [(cartesian_trajectory_planner__B.ibcol_e * |
| 17147 | cartesian_trajectory_planner__B.i_a + |
| 17148 | cartesian_trajectory_planner__B.b_data_k[cartesian_trajectory_planner__B.ntilerows_a]) |
| 17149 | - 1]; |
| 17150 | } |
| 17151 | } |
| 17152 | } |
| 17153 | |
| 17154 | static void TrapVelTrajSys_extract1Dim_jbzp(const real_T pp_breaks_data[], const |
| 17155 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 17156 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 17157 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 17158 | { |
| 17159 | static const boolean_T tmp[6] = { false, false, false, false, true, false }; |
| 17160 | |
| 17161 | breaks_size[0] = 1; |
| 17162 | breaks_size[1] = pp_breaks_size[1]; |
| 17163 | cartesian_trajectory_planner__B.loop_ub_p = pp_breaks_size[1]; |
| 17164 | if (0 <= cartesian_trajectory_planner__B.loop_ub_p - 1) { |
| 17165 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 17166 | cartesian_trajectory_planner__B.loop_ub_p * sizeof(real_T)); |
| 17167 | } |
| 17168 | |
| 17169 | for (cartesian_trajectory_planner__B.i_p = 0; |
| 17170 | cartesian_trajectory_planner__B.i_p < 6; |
| 17171 | cartesian_trajectory_planner__B.i_p++) { |
| 17172 | cartesian_trajectory_planner__B.a_b[cartesian_trajectory_planner__B.i_p] = |
| 17173 | tmp[cartesian_trajectory_planner__B.i_p]; |
| 17174 | } |
| 17175 | |
| 17176 | cartesian_trajectory_planner__B.ntilerows_c = pp_breaks_size[1] - 2; |
| 17177 | for (cartesian_trajectory_planner__B.loop_ub_p = 0; |
| 17178 | cartesian_trajectory_planner__B.loop_ub_p <= |
| 17179 | cartesian_trajectory_planner__B.ntilerows_c; |
| 17180 | cartesian_trajectory_planner__B.loop_ub_p++) { |
| 17181 | cartesian_trajectory_planner__B.ibcol_c = |
| 17182 | cartesian_trajectory_planner__B.loop_ub_p * 6 - 1; |
| 17183 | for (cartesian_trajectory_planner__B.i_p = 0; |
| 17184 | cartesian_trajectory_planner__B.i_p < 6; |
| 17185 | cartesian_trajectory_planner__B.i_p++) { |
| 17186 | cartesian_trajectory_planner__B.coeffIndex_data_g |
| 17187 | [(cartesian_trajectory_planner__B.ibcol_c + |
| 17188 | cartesian_trajectory_planner__B.i_p) + 1] = |
| 17189 | cartesian_trajectory_planner__B.a_b[cartesian_trajectory_planner__B.i_p]; |
| 17190 | } |
| 17191 | } |
| 17192 | |
| 17193 | cartesian_trajectory_planner__B.ntilerows_c = (pp_breaks_size[1] - 1) * 6 - 1; |
| 17194 | cartesian_trajectory_planner__B.loop_ub_p = 0; |
| 17195 | cartesian_trajectory_planner__B.ibcol_c = 0; |
| 17196 | for (cartesian_trajectory_planner__B.i_p = 0; |
| 17197 | cartesian_trajectory_planner__B.i_p <= |
| 17198 | cartesian_trajectory_planner__B.ntilerows_c; |
| 17199 | cartesian_trajectory_planner__B.i_p++) { |
| 17200 | if (cartesian_trajectory_planner__B.coeffIndex_data_g[cartesian_trajectory_planner__B.i_p]) |
| 17201 | { |
| 17202 | cartesian_trajectory_planner__B.loop_ub_p++; |
| 17203 | cartesian_trajectory_planner__B.b_data_c[cartesian_trajectory_planner__B.ibcol_c] |
| 17204 | = cartesian_trajectory_planner__B.i_p + 1; |
| 17205 | cartesian_trajectory_planner__B.ibcol_c++; |
| 17206 | } |
| 17207 | } |
| 17208 | |
| 17209 | cartesian_trajectory_planner__B.ibcol_c = div_nzp_s32(pp_coefs_size[0] * |
| 17210 | pp_coefs_size[1] * 3, 3); |
| 17211 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_p; |
| 17212 | oneDimCoeffs_size[1] = 3; |
| 17213 | for (cartesian_trajectory_planner__B.i_p = 0; |
| 17214 | cartesian_trajectory_planner__B.i_p < 3; |
| 17215 | cartesian_trajectory_planner__B.i_p++) { |
| 17216 | for (cartesian_trajectory_planner__B.ntilerows_c = 0; |
| 17217 | cartesian_trajectory_planner__B.ntilerows_c < |
| 17218 | cartesian_trajectory_planner__B.loop_ub_p; |
| 17219 | cartesian_trajectory_planner__B.ntilerows_c++) { |
| 17220 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows_c + |
| 17221 | cartesian_trajectory_planner__B.loop_ub_p * |
| 17222 | cartesian_trajectory_planner__B.i_p] = pp_coefs_data |
| 17223 | [(cartesian_trajectory_planner__B.ibcol_c * |
| 17224 | cartesian_trajectory_planner__B.i_p + |
| 17225 | cartesian_trajectory_planner__B.b_data_c[cartesian_trajectory_planner__B.ntilerows_c]) |
| 17226 | - 1]; |
| 17227 | } |
| 17228 | } |
| 17229 | } |
| 17230 | |
| 17231 | static void TrapVelTrajSys_extract1Di_jbzpa(const real_T pp_breaks_data[], const |
| 17232 | int32_T pp_breaks_size[2], const real_T pp_coefs_data[], const int32_T |
| 17233 | pp_coefs_size[3], real_T breaks_data[], int32_T breaks_size[2], real_T |
| 17234 | oneDimCoeffs_data[], int32_T oneDimCoeffs_size[2]) |
| 17235 | { |
| 17236 | static const boolean_T tmp[6] = { false, false, false, false, false, true }; |
| 17237 | |
| 17238 | breaks_size[0] = 1; |
| 17239 | breaks_size[1] = pp_breaks_size[1]; |
| 17240 | cartesian_trajectory_planner__B.loop_ub_h = pp_breaks_size[1]; |
| 17241 | if (0 <= cartesian_trajectory_planner__B.loop_ub_h - 1) { |
| 17242 | memcpy(&breaks_data[0], &pp_breaks_data[0], |
| 17243 | cartesian_trajectory_planner__B.loop_ub_h * sizeof(real_T)); |
| 17244 | } |
| 17245 | |
| 17246 | for (cartesian_trajectory_planner__B.i_j = 0; |
| 17247 | cartesian_trajectory_planner__B.i_j < 6; |
| 17248 | cartesian_trajectory_planner__B.i_j++) { |
| 17249 | cartesian_trajectory_planner__B.a_e[cartesian_trajectory_planner__B.i_j] = |
| 17250 | tmp[cartesian_trajectory_planner__B.i_j]; |
| 17251 | } |
| 17252 | |
| 17253 | cartesian_trajectory_planner__B.ntilerows = pp_breaks_size[1] - 2; |
| 17254 | for (cartesian_trajectory_planner__B.loop_ub_h = 0; |
| 17255 | cartesian_trajectory_planner__B.loop_ub_h <= |
| 17256 | cartesian_trajectory_planner__B.ntilerows; |
| 17257 | cartesian_trajectory_planner__B.loop_ub_h++) { |
| 17258 | cartesian_trajectory_planner__B.ibcol = |
| 17259 | cartesian_trajectory_planner__B.loop_ub_h * 6 - 1; |
| 17260 | for (cartesian_trajectory_planner__B.i_j = 0; |
| 17261 | cartesian_trajectory_planner__B.i_j < 6; |
| 17262 | cartesian_trajectory_planner__B.i_j++) { |
| 17263 | cartesian_trajectory_planner__B.coeffIndex_data |
| 17264 | [(cartesian_trajectory_planner__B.ibcol + |
| 17265 | cartesian_trajectory_planner__B.i_j) + 1] = |
| 17266 | cartesian_trajectory_planner__B.a_e[cartesian_trajectory_planner__B.i_j]; |
| 17267 | } |
| 17268 | } |
| 17269 | |
| 17270 | cartesian_trajectory_planner__B.ntilerows = (pp_breaks_size[1] - 1) * 6 - 1; |
| 17271 | cartesian_trajectory_planner__B.loop_ub_h = 0; |
| 17272 | cartesian_trajectory_planner__B.ibcol = 0; |
| 17273 | for (cartesian_trajectory_planner__B.i_j = 0; |
| 17274 | cartesian_trajectory_planner__B.i_j <= |
| 17275 | cartesian_trajectory_planner__B.ntilerows; |
| 17276 | cartesian_trajectory_planner__B.i_j++) { |
| 17277 | if (cartesian_trajectory_planner__B.coeffIndex_data[cartesian_trajectory_planner__B.i_j]) |
| 17278 | { |
| 17279 | cartesian_trajectory_planner__B.loop_ub_h++; |
| 17280 | cartesian_trajectory_planner__B.b_data[cartesian_trajectory_planner__B.ibcol] |
| 17281 | = cartesian_trajectory_planner__B.i_j + 1; |
| 17282 | cartesian_trajectory_planner__B.ibcol++; |
| 17283 | } |
| 17284 | } |
| 17285 | |
| 17286 | cartesian_trajectory_planner__B.ibcol = div_nzp_s32(pp_coefs_size[0] * |
| 17287 | pp_coefs_size[1] * 3, 3); |
| 17288 | oneDimCoeffs_size[0] = cartesian_trajectory_planner__B.loop_ub_h; |
| 17289 | oneDimCoeffs_size[1] = 3; |
| 17290 | for (cartesian_trajectory_planner__B.i_j = 0; |
| 17291 | cartesian_trajectory_planner__B.i_j < 3; |
| 17292 | cartesian_trajectory_planner__B.i_j++) { |
| 17293 | for (cartesian_trajectory_planner__B.ntilerows = 0; |
| 17294 | cartesian_trajectory_planner__B.ntilerows < |
| 17295 | cartesian_trajectory_planner__B.loop_ub_h; |
| 17296 | cartesian_trajectory_planner__B.ntilerows++) { |
| 17297 | oneDimCoeffs_data[cartesian_trajectory_planner__B.ntilerows + |
| 17298 | cartesian_trajectory_planner__B.loop_ub_h * |
| 17299 | cartesian_trajectory_planner__B.i_j] = pp_coefs_data |
| 17300 | [(cartesian_trajectory_planner__B.ibcol * |
| 17301 | cartesian_trajectory_planner__B.i_j + |
| 17302 | cartesian_trajectory_planner__B.b_data[cartesian_trajectory_planner__B.ntilerows]) |
| 17303 | - 1]; |
| 17304 | } |
| 17305 | } |
| 17306 | } |
| 17307 | |
| 17308 | static void cartesi_TrapVelTrajSys_stepImpl(real_T time, const real_T |
| 17309 | varargin_1[12], const real_T varargin_2[6], real_T varargin_3, real_T q[6], |
| 17310 | real_T qd[6], real_T qdd[6]) |
| 17311 | { |
| 17312 | cartesian_trajector_trapveltraj(varargin_1, varargin_2, varargin_3, |
| 17313 | cartesian_trajectory_planner__B.unusedU10, |
| 17314 | cartesian_trajectory_planner__B.unusedU11, |
| 17315 | cartesian_trajectory_planner__B.unusedU12, |
| 17316 | cartesian_trajectory_planner__B.unusedU13, |
| 17317 | cartesian_trajectory_planner__B.trajPP.data, |
| 17318 | &cartesian_trajectory_planner__B.trajPP.size); |
| 17319 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17320 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17321 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17322 | cartesian_trajectory_planner__B.trajPP.data[0].breaks.size[1]; |
| 17323 | cartesian_trajectory_planner__B.loop_ub = |
| 17324 | cartesian_trajectory_planner__B.trajPP.data[0].breaks.size[1]; |
| 17325 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17326 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17327 | cartesian_trajectory_planner__B.loop_ub; |
| 17328 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17329 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17330 | = cartesian_trajectory_planner__B.trajPP.data[0] |
| 17331 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17332 | } |
| 17333 | |
| 17334 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17335 | (cartesian_trajectory_planner__B.trajPP.data[0].coefs.size[0] * |
| 17336 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size[1] * 3, 3); |
| 17337 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17338 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17339 | cartesian_trajectory_planner__B.loop_ub = |
| 17340 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17341 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17342 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17343 | cartesian_trajectory_planner__B.loop_ub; |
| 17344 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17345 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17346 | = cartesian_trajectory_planner__B.trajPP.data[0] |
| 17347 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17348 | } |
| 17349 | } else { |
| 17350 | TrapVelTrajSys_extract1DimFromP(cartesian_trajectory_planner__B.trajPP.data |
| 17351 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17352 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17353 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17354 | cartesian_trajectory_planner__B.breaks_data, |
| 17355 | cartesian_trajectory_planner__B.breaks_size, |
| 17356 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17357 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17358 | } |
| 17359 | |
| 17360 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17361 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17362 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17363 | cartesian_trajectory_planner__B.loop_ub = |
| 17364 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17365 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17366 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17367 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17368 | } |
| 17369 | |
| 17370 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17371 | cartesian_trajectory_planner__B.f = 0; |
| 17372 | } else { |
| 17373 | cartesian_trajectory_planner__B.f = |
| 17374 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17375 | } |
| 17376 | |
| 17377 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17378 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17379 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17380 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17381 | cartesian_trajectory_planner__B.loop_ub < |
| 17382 | cartesian_trajectory_planner__B.f; |
| 17383 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17384 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17385 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17386 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17387 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17388 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17389 | cartesian_trajectory_planner__B.loop_ub]; |
| 17390 | } |
| 17391 | } |
| 17392 | |
| 17393 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17394 | cartesian_trajectory_planner__B.breaks_size, |
| 17395 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17396 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17397 | &cartesian_trajectory_planner__B.d_data_d, |
| 17398 | &cartesian_trajectory_planner__B.d_size_n, |
| 17399 | &cartesian_trajectory_planner__B.c_data_l, |
| 17400 | &cartesian_trajectory_planner__B.c_size_o, |
| 17401 | &cartesian_trajectory_planner__B.b_data_g, |
| 17402 | &cartesian_trajectory_planner__B.b_size_j); |
| 17403 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17404 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17405 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17406 | cartesian_trajectory_planner__B.trajPP.data[1].breaks.size[1]; |
| 17407 | cartesian_trajectory_planner__B.loop_ub = |
| 17408 | cartesian_trajectory_planner__B.trajPP.data[1].breaks.size[1]; |
| 17409 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17410 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17411 | cartesian_trajectory_planner__B.loop_ub; |
| 17412 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17413 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17414 | = cartesian_trajectory_planner__B.trajPP.data[1] |
| 17415 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17416 | } |
| 17417 | |
| 17418 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17419 | (cartesian_trajectory_planner__B.trajPP.data[1].coefs.size[0] * |
| 17420 | cartesian_trajectory_planner__B.trajPP.data[1].coefs.size[1] * 3, 3); |
| 17421 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17422 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17423 | cartesian_trajectory_planner__B.loop_ub = |
| 17424 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17425 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17426 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17427 | cartesian_trajectory_planner__B.loop_ub; |
| 17428 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17429 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17430 | = cartesian_trajectory_planner__B.trajPP.data[1] |
| 17431 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17432 | } |
| 17433 | } else { |
| 17434 | TrapVelTrajSys_extract1DimFro_j(cartesian_trajectory_planner__B.trajPP.data |
| 17435 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17436 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17437 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17438 | cartesian_trajectory_planner__B.breaks_data, |
| 17439 | cartesian_trajectory_planner__B.breaks_size, |
| 17440 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17441 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17442 | } |
| 17443 | |
| 17444 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17445 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17446 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17447 | cartesian_trajectory_planner__B.loop_ub = |
| 17448 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17449 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17450 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17451 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17452 | } |
| 17453 | |
| 17454 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17455 | cartesian_trajectory_planner__B.f = 0; |
| 17456 | } else { |
| 17457 | cartesian_trajectory_planner__B.f = |
| 17458 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17459 | } |
| 17460 | |
| 17461 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17462 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17463 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17464 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17465 | cartesian_trajectory_planner__B.loop_ub < |
| 17466 | cartesian_trajectory_planner__B.f; |
| 17467 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17468 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17469 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17470 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17471 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17472 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17473 | cartesian_trajectory_planner__B.loop_ub]; |
| 17474 | } |
| 17475 | } |
| 17476 | |
| 17477 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17478 | cartesian_trajectory_planner__B.breaks_size, |
| 17479 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17480 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17481 | &cartesian_trajectory_planner__B.j_data, |
| 17482 | &cartesian_trajectory_planner__B.d_size_n, |
| 17483 | &cartesian_trajectory_planner__B.i_data, |
| 17484 | &cartesian_trajectory_planner__B.c_size_o, |
| 17485 | &cartesian_trajectory_planner__B.h_data, |
| 17486 | &cartesian_trajectory_planner__B.b_size_j); |
| 17487 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17488 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17489 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17490 | cartesian_trajectory_planner__B.trajPP.data[2].breaks.size[1]; |
| 17491 | cartesian_trajectory_planner__B.loop_ub = |
| 17492 | cartesian_trajectory_planner__B.trajPP.data[2].breaks.size[1]; |
| 17493 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17494 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17495 | cartesian_trajectory_planner__B.loop_ub; |
| 17496 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17497 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17498 | = cartesian_trajectory_planner__B.trajPP.data[2] |
| 17499 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17500 | } |
| 17501 | |
| 17502 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17503 | (cartesian_trajectory_planner__B.trajPP.data[2].coefs.size[0] * |
| 17504 | cartesian_trajectory_planner__B.trajPP.data[2].coefs.size[1] * 3, 3); |
| 17505 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17506 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17507 | cartesian_trajectory_planner__B.loop_ub = |
| 17508 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17509 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17510 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17511 | cartesian_trajectory_planner__B.loop_ub; |
| 17512 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17513 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17514 | = cartesian_trajectory_planner__B.trajPP.data[2] |
| 17515 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17516 | } |
| 17517 | } else { |
| 17518 | TrapVelTrajSys_extract1DimFr_jb(cartesian_trajectory_planner__B.trajPP.data |
| 17519 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17520 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17521 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17522 | cartesian_trajectory_planner__B.breaks_data, |
| 17523 | cartesian_trajectory_planner__B.breaks_size, |
| 17524 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17525 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17526 | } |
| 17527 | |
| 17528 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17529 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17530 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17531 | cartesian_trajectory_planner__B.loop_ub = |
| 17532 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17533 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17534 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17535 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17536 | } |
| 17537 | |
| 17538 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17539 | cartesian_trajectory_planner__B.f = 0; |
| 17540 | } else { |
| 17541 | cartesian_trajectory_planner__B.f = |
| 17542 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17543 | } |
| 17544 | |
| 17545 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17546 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17547 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17548 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17549 | cartesian_trajectory_planner__B.loop_ub < |
| 17550 | cartesian_trajectory_planner__B.f; |
| 17551 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17552 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17553 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17554 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17555 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17556 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17557 | cartesian_trajectory_planner__B.loop_ub]; |
| 17558 | } |
| 17559 | } |
| 17560 | |
| 17561 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17562 | cartesian_trajectory_planner__B.breaks_size, |
| 17563 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17564 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17565 | &cartesian_trajectory_planner__B.p_data, |
| 17566 | &cartesian_trajectory_planner__B.d_size_n, |
| 17567 | &cartesian_trajectory_planner__B.o_data_d, |
| 17568 | &cartesian_trajectory_planner__B.c_size_o, |
| 17569 | &cartesian_trajectory_planner__B.n_data, |
| 17570 | &cartesian_trajectory_planner__B.b_size_j); |
| 17571 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17572 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17573 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17574 | cartesian_trajectory_planner__B.trajPP.data[3].breaks.size[1]; |
| 17575 | cartesian_trajectory_planner__B.loop_ub = |
| 17576 | cartesian_trajectory_planner__B.trajPP.data[3].breaks.size[1]; |
| 17577 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17578 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17579 | cartesian_trajectory_planner__B.loop_ub; |
| 17580 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17581 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17582 | = cartesian_trajectory_planner__B.trajPP.data[3] |
| 17583 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17584 | } |
| 17585 | |
| 17586 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17587 | (cartesian_trajectory_planner__B.trajPP.data[3].coefs.size[0] * |
| 17588 | cartesian_trajectory_planner__B.trajPP.data[3].coefs.size[1] * 3, 3); |
| 17589 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17590 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17591 | cartesian_trajectory_planner__B.loop_ub = |
| 17592 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17593 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17594 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17595 | cartesian_trajectory_planner__B.loop_ub; |
| 17596 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17597 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17598 | = cartesian_trajectory_planner__B.trajPP.data[3] |
| 17599 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17600 | } |
| 17601 | } else { |
| 17602 | TrapVelTrajSys_extract1DimF_jbz(cartesian_trajectory_planner__B.trajPP.data |
| 17603 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17604 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17605 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17606 | cartesian_trajectory_planner__B.breaks_data, |
| 17607 | cartesian_trajectory_planner__B.breaks_size, |
| 17608 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17609 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17610 | } |
| 17611 | |
| 17612 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17613 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17614 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17615 | cartesian_trajectory_planner__B.loop_ub = |
| 17616 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17617 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17618 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17619 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17620 | } |
| 17621 | |
| 17622 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17623 | cartesian_trajectory_planner__B.f = 0; |
| 17624 | } else { |
| 17625 | cartesian_trajectory_planner__B.f = |
| 17626 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17627 | } |
| 17628 | |
| 17629 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17630 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17631 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17632 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17633 | cartesian_trajectory_planner__B.loop_ub < |
| 17634 | cartesian_trajectory_planner__B.f; |
| 17635 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17636 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17637 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17638 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17639 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17640 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17641 | cartesian_trajectory_planner__B.loop_ub]; |
| 17642 | } |
| 17643 | } |
| 17644 | |
| 17645 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17646 | cartesian_trajectory_planner__B.breaks_size, |
| 17647 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17648 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17649 | &cartesian_trajectory_planner__B.w_data, |
| 17650 | &cartesian_trajectory_planner__B.d_size_n, |
| 17651 | &cartesian_trajectory_planner__B.v_data, |
| 17652 | &cartesian_trajectory_planner__B.c_size_o, |
| 17653 | &cartesian_trajectory_planner__B.u_data, |
| 17654 | &cartesian_trajectory_planner__B.b_size_j); |
| 17655 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17656 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17657 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17658 | cartesian_trajectory_planner__B.trajPP.data[4].breaks.size[1]; |
| 17659 | cartesian_trajectory_planner__B.loop_ub = |
| 17660 | cartesian_trajectory_planner__B.trajPP.data[4].breaks.size[1]; |
| 17661 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17662 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17663 | cartesian_trajectory_planner__B.loop_ub; |
| 17664 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17665 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17666 | = cartesian_trajectory_planner__B.trajPP.data[4] |
| 17667 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17668 | } |
| 17669 | |
| 17670 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17671 | (cartesian_trajectory_planner__B.trajPP.data[4].coefs.size[0] * |
| 17672 | cartesian_trajectory_planner__B.trajPP.data[4].coefs.size[1] * 3, 3); |
| 17673 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17674 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17675 | cartesian_trajectory_planner__B.loop_ub = |
| 17676 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17677 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17678 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17679 | cartesian_trajectory_planner__B.loop_ub; |
| 17680 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17681 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17682 | = cartesian_trajectory_planner__B.trajPP.data[4] |
| 17683 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17684 | } |
| 17685 | } else { |
| 17686 | TrapVelTrajSys_extract1Dim_jbzp(cartesian_trajectory_planner__B.trajPP.data |
| 17687 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17688 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17689 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17690 | cartesian_trajectory_planner__B.breaks_data, |
| 17691 | cartesian_trajectory_planner__B.breaks_size, |
| 17692 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17693 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17694 | } |
| 17695 | |
| 17696 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17697 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17698 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17699 | cartesian_trajectory_planner__B.loop_ub = |
| 17700 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17701 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17702 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17703 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17704 | } |
| 17705 | |
| 17706 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17707 | cartesian_trajectory_planner__B.f = 0; |
| 17708 | } else { |
| 17709 | cartesian_trajectory_planner__B.f = |
| 17710 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17711 | } |
| 17712 | |
| 17713 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17714 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17715 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17716 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17717 | cartesian_trajectory_planner__B.loop_ub < |
| 17718 | cartesian_trajectory_planner__B.f; |
| 17719 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17720 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17721 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17722 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17723 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17724 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17725 | cartesian_trajectory_planner__B.loop_ub]; |
| 17726 | } |
| 17727 | } |
| 17728 | |
| 17729 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17730 | cartesian_trajectory_planner__B.breaks_size, |
| 17731 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17732 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17733 | &cartesian_trajectory_planner__B.db_data, |
| 17734 | &cartesian_trajectory_planner__B.d_size_n, |
| 17735 | &cartesian_trajectory_planner__B.cb_data, |
| 17736 | &cartesian_trajectory_planner__B.c_size_o, |
| 17737 | &cartesian_trajectory_planner__B.bb_data, |
| 17738 | &cartesian_trajectory_planner__B.b_size_j); |
| 17739 | if (cartesian_trajectory_planner__B.trajPP.size > 1) { |
| 17740 | cartesian_trajectory_planner__B.breaks_size[0] = 1; |
| 17741 | cartesian_trajectory_planner__B.breaks_size[1] = |
| 17742 | cartesian_trajectory_planner__B.trajPP.data[5].breaks.size[1]; |
| 17743 | cartesian_trajectory_planner__B.loop_ub = |
| 17744 | cartesian_trajectory_planner__B.trajPP.data[5].breaks.size[1]; |
| 17745 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17746 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < |
| 17747 | cartesian_trajectory_planner__B.loop_ub; |
| 17748 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17749 | cartesian_trajectory_planner__B.breaks_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17750 | = cartesian_trajectory_planner__B.trajPP.data[5] |
| 17751 | .breaks.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17752 | } |
| 17753 | |
| 17754 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = div_nzp_s32 |
| 17755 | (cartesian_trajectory_planner__B.trajPP.data[5].coefs.size[0] * |
| 17756 | cartesian_trajectory_planner__B.trajPP.data[5].coefs.size[1] * 3, 3); |
| 17757 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] = |
| 17758 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp; |
| 17759 | cartesian_trajectory_planner__B.loop_ub = |
| 17760 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp * 3 - 1; |
| 17761 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17762 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp <= |
| 17763 | cartesian_trajectory_planner__B.loop_ub; |
| 17764 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17765 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] |
| 17766 | = cartesian_trajectory_planner__B.trajPP.data[5] |
| 17767 | .coefs.data[cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp]; |
| 17768 | } |
| 17769 | } else { |
| 17770 | TrapVelTrajSys_extract1Di_jbzpa(cartesian_trajectory_planner__B.trajPP.data |
| 17771 | [0].breaks.data, cartesian_trajectory_planner__B.trajPP.data[0]. |
| 17772 | breaks.size, cartesian_trajectory_planner__B.trajPP.data[0].coefs.data, |
| 17773 | cartesian_trajectory_planner__B.trajPP.data[0].coefs.size, |
| 17774 | cartesian_trajectory_planner__B.breaks_data, |
| 17775 | cartesian_trajectory_planner__B.breaks_size, |
| 17776 | cartesian_trajectory_planner__B.oneDimCoeffs_data, |
| 17777 | cartesian_trajectory_planner__B.oneDimCoeffs_size); |
| 17778 | } |
| 17779 | |
| 17780 | cartesian_trajectory_planner__B.evalCoeffs_size[0] = |
| 17781 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17782 | cartesian_trajectory_planner__B.evalCoeffs_size[1] = 3; |
| 17783 | cartesian_trajectory_planner__B.loop_ub = |
| 17784 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0] * 3 - 1; |
| 17785 | if (0 <= cartesian_trajectory_planner__B.loop_ub) { |
| 17786 | memset(&cartesian_trajectory_planner__B.evalCoeffs_data[0], 0, |
| 17787 | (cartesian_trajectory_planner__B.loop_ub + 1) * sizeof(real_T)); |
| 17788 | } |
| 17789 | |
| 17790 | if (1 > cartesian_trajectory_planner__B.oneDimCoeffs_size[0]) { |
| 17791 | cartesian_trajectory_planner__B.f = 0; |
| 17792 | } else { |
| 17793 | cartesian_trajectory_planner__B.f = |
| 17794 | cartesian_trajectory_planner__B.oneDimCoeffs_size[0]; |
| 17795 | } |
| 17796 | |
| 17797 | for (cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp = 0; |
| 17798 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp < 3; |
| 17799 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp++) { |
| 17800 | for (cartesian_trajectory_planner__B.loop_ub = 0; |
| 17801 | cartesian_trajectory_planner__B.loop_ub < |
| 17802 | cartesian_trajectory_planner__B.f; |
| 17803 | cartesian_trajectory_planner__B.loop_ub++) { |
| 17804 | cartesian_trajectory_planner__B.evalCoeffs_data[cartesian_trajectory_planner__B.loop_ub |
| 17805 | + cartesian_trajectory_planner__B.evalCoeffs_size[0] * |
| 17806 | cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp] = |
| 17807 | cartesian_trajectory_planner__B.oneDimCoeffs_data[cartesian_trajectory_planner__B.oneDimCoeffs_size |
| 17808 | [0] * cartesian_trajectory_planner__B.oneDimCoeffs_size_tmp + |
| 17809 | cartesian_trajectory_planner__B.loop_ub]; |
| 17810 | } |
| 17811 | } |
| 17812 | |
| 17813 | TrapVelTrajSys_generate1DTrajec(cartesian_trajectory_planner__B.breaks_data, |
| 17814 | cartesian_trajectory_planner__B.breaks_size, |
| 17815 | cartesian_trajectory_planner__B.evalCoeffs_data, |
| 17816 | cartesian_trajectory_planner__B.evalCoeffs_size, time, |
| 17817 | &cartesian_trajectory_planner__B.jb_data, |
| 17818 | &cartesian_trajectory_planner__B.d_size_n, |
| 17819 | &cartesian_trajectory_planner__B.ib_data, |
| 17820 | &cartesian_trajectory_planner__B.c_size_o, |
| 17821 | &cartesian_trajectory_planner__B.hb_data, |
| 17822 | &cartesian_trajectory_planner__B.b_size_j); |
| 17823 | q[0] = cartesian_trajectory_planner__B.d_data_d; |
| 17824 | q[1] = cartesian_trajectory_planner__B.j_data; |
| 17825 | q[2] = cartesian_trajectory_planner__B.p_data; |
| 17826 | q[3] = cartesian_trajectory_planner__B.w_data; |
| 17827 | q[4] = cartesian_trajectory_planner__B.db_data; |
| 17828 | q[5] = cartesian_trajectory_planner__B.jb_data; |
| 17829 | qd[0] = cartesian_trajectory_planner__B.c_data_l; |
| 17830 | qd[1] = cartesian_trajectory_planner__B.i_data; |
| 17831 | qd[2] = cartesian_trajectory_planner__B.o_data_d; |
| 17832 | qd[3] = cartesian_trajectory_planner__B.v_data; |
| 17833 | qd[4] = cartesian_trajectory_planner__B.cb_data; |
| 17834 | qd[5] = cartesian_trajectory_planner__B.ib_data; |
| 17835 | qdd[0] = cartesian_trajectory_planner__B.b_data_g; |
| 17836 | qdd[1] = cartesian_trajectory_planner__B.h_data; |
| 17837 | qdd[2] = cartesian_trajectory_planner__B.n_data; |
| 17838 | qdd[3] = cartesian_trajectory_planner__B.u_data; |
| 17839 | qdd[4] = cartesian_trajectory_planner__B.bb_data; |
| 17840 | qdd[5] = cartesian_trajectory_planner__B.hb_data; |
| 17841 | } |
| 17842 | |
| 17843 | static void matlabCodegenHandle_matlabC_jbz(ros_slros_internal_block_GetP_T *obj) |
| 17844 | { |
| 17845 | if (!obj->matlabCodegenIsDeleted) { |
| 17846 | obj->matlabCodegenIsDeleted = true; |
| 17847 | } |
| 17848 | } |
| 17849 | |
| 17850 | static void matlabCodegenHandle_matlabCo_jb(ros_slros_internal_block_Subs_T *obj) |
| 17851 | { |
| 17852 | if (!obj->matlabCodegenIsDeleted) { |
| 17853 | obj->matlabCodegenIsDeleted = true; |
| 17854 | } |
| 17855 | } |
| 17856 | |
| 17857 | static void matlabCodegenHandle_matlabCod_j(ros_slros_internal_block_Publ_T *obj) |
| 17858 | { |
| 17859 | if (!obj->matlabCodegenIsDeleted) { |
| 17860 | obj->matlabCodegenIsDeleted = true; |
| 17861 | } |
| 17862 | } |
| 17863 | |
| 17864 | static void cartesian_traj_SystemCore_setup(robotics_slcore_internal_bl_j_T *obj) |
| 17865 | { |
| 17866 | obj->isInitialized = 1; |
| 17867 | obj->TunablePropsChanged = false; |
| 17868 | } |
| 17869 | |
| 17870 | // Model step function |
| 17871 | void cartesian_trajectory_planner_2_step(void) |
| 17872 | { |
| 17873 | // SignalConversion generated from: '<S13>/Coordinate Transformation Conversion' incorporates: |
| 17874 | // MATLABSystem: '<S13>/Get Parameter3' |
| 17875 | // MATLABSystem: '<S13>/Get Parameter4' |
| 17876 | // MATLABSystem: '<S13>/Get Parameter5' |
| 17877 | // MATLABSystem: '<S13>/Get Parameter6' |
| 17878 | |
| 17879 | ParamGet_cartesian_trajectory_planner_2_290.get_parameter |
| 17880 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoordi[0]); |
| 17881 | ParamGet_cartesian_trajectory_planner_2_291.get_parameter |
| 17882 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoordi[1]); |
| 17883 | ParamGet_cartesian_trajectory_planner_2_292.get_parameter |
| 17884 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoordi[2]); |
| 17885 | ParamGet_cartesian_trajectory_planner_2_293.get_parameter |
| 17886 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoordi[3]); |
| 17887 | |
| 17888 | // SignalConversion generated from: '<S13>/Coordinate Transformation Conversion' incorporates: |
| 17889 | // MATLABSystem: '<S13>/Get Parameter' |
| 17890 | // MATLABSystem: '<S13>/Get Parameter1' |
| 17891 | // MATLABSystem: '<S13>/Get Parameter2' |
| 17892 | |
| 17893 | ParamGet_cartesian_trajectory_planner_2_287.get_parameter |
| 17894 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_p[0]); |
| 17895 | ParamGet_cartesian_trajectory_planner_2_288.get_parameter |
| 17896 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_p[1]); |
| 17897 | ParamGet_cartesian_trajectory_planner_2_289.get_parameter |
| 17898 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_p[2]); |
| 17899 | CoordinateTransformationConvers |
| 17900 | (cartesian_trajectory_planner__B.TmpSignalConversionAtCoordi, |
| 17901 | cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_p, |
| 17902 | &cartesian_trajectory_planner__B.CoordinateTransformationConv_pn); |
| 17903 | |
| 17904 | // SignalConversion generated from: '<S12>/Coordinate Transformation Conversion' incorporates: |
| 17905 | // MATLABSystem: '<S12>/Get Parameter3' |
| 17906 | // MATLABSystem: '<S12>/Get Parameter4' |
| 17907 | // MATLABSystem: '<S12>/Get Parameter5' |
| 17908 | // MATLABSystem: '<S12>/Get Parameter6' |
| 17909 | |
| 17910 | ParamGet_cartesian_trajectory_planner_2_278.get_parameter |
| 17911 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_l[0]); |
| 17912 | ParamGet_cartesian_trajectory_planner_2_279.get_parameter |
| 17913 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_l[1]); |
| 17914 | ParamGet_cartesian_trajectory_planner_2_280.get_parameter |
| 17915 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_l[2]); |
| 17916 | ParamGet_cartesian_trajectory_planner_2_281.get_parameter |
| 17917 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_l[3]); |
| 17918 | |
| 17919 | // SignalConversion generated from: '<S12>/Coordinate Transformation Conversion' incorporates: |
| 17920 | // MATLABSystem: '<S12>/Get Parameter' |
| 17921 | // MATLABSystem: '<S12>/Get Parameter1' |
| 17922 | // MATLABSystem: '<S12>/Get Parameter2' |
| 17923 | |
| 17924 | ParamGet_cartesian_trajectory_planner_2_275.get_parameter |
| 17925 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoo_pn[0]); |
| 17926 | ParamGet_cartesian_trajectory_planner_2_276.get_parameter |
| 17927 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoo_pn[1]); |
| 17928 | ParamGet_cartesian_trajectory_planner_2_277.get_parameter |
| 17929 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtCoo_pn[2]); |
| 17930 | CoordinateTransformationConvers |
| 17931 | (cartesian_trajectory_planner__B.TmpSignalConversionAtCoor_l, |
| 17932 | cartesian_trajectory_planner__B.TmpSignalConversionAtCoo_pn, |
| 17933 | &cartesian_trajectory_planner__B.CoordinateTransformationConve_p); |
| 17934 | |
| 17935 | // SignalConversion generated from: '<S2>/MATLAB System' incorporates: |
| 17936 | // MATLABSystem: '<S10>/Get Parameter' |
| 17937 | // MATLABSystem: '<S10>/Get Parameter1' |
| 17938 | // MATLABSystem: '<S10>/Get Parameter2' |
| 17939 | // MATLABSystem: '<S10>/Get Parameter3' |
| 17940 | // MATLABSystem: '<S10>/Get Parameter4' |
| 17941 | // MATLABSystem: '<S10>/Get Parameter5' |
| 17942 | |
| 17943 | ParamGet_cartesian_trajectory_planner_2_299.get_parameter |
| 17944 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[0]); |
| 17945 | ParamGet_cartesian_trajectory_planner_2_300.get_parameter |
| 17946 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[1]); |
| 17947 | ParamGet_cartesian_trajectory_planner_2_301.get_parameter |
| 17948 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[2]); |
| 17949 | ParamGet_cartesian_trajectory_planner_2_302.get_parameter |
| 17950 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[3]); |
| 17951 | ParamGet_cartesian_trajectory_planner_2_303.get_parameter |
| 17952 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[4]); |
| 17953 | ParamGet_cartesian_trajectory_planner_2_304.get_parameter |
| 17954 | (&cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB[5]); |
| 17955 | |
| 17956 | // Constant: '<Root>/Constant' |
| 17957 | cartesian_trajecto_MATLABSystem |
| 17958 | (cartesian_trajectory_planner__B.CoordinateTransformationConve_p.CoordinateTransformationConve_g, |
| 17959 | cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB, |
| 17960 | cartesian_trajectory_planner__P.Constant_Value_o, |
| 17961 | &cartesian_trajectory_planner__B.MATLABSystem, |
| 17962 | &cartesian_trajectory_planner_DW.MATLABSystem); |
| 17963 | |
| 17964 | // SignalConversion generated from: '<S2>/MATLAB System' |
| 17965 | for (cartesian_trajectory_planner__B.i = 0; cartesian_trajectory_planner__B.i < |
| 17966 | 6; cartesian_trajectory_planner__B.i++) { |
| 17967 | cartesian_trajectory_planner__B.TmpMLSysMemLayoutBufferAt_m[cartesian_trajectory_planner__B.i] |
| 17968 | = |
| 17969 | cartesian_trajectory_planner__B.MATLABSystem.MATLABSystem_o1[cartesian_trajectory_planner__B.i]; |
| 17970 | } |
| 17971 | |
| 17972 | // End of SignalConversion generated from: '<S2>/MATLAB System' |
| 17973 | cartesian_trajecto_MATLABSystem |
| 17974 | (cartesian_trajectory_planner__B.CoordinateTransformationConv_pn.CoordinateTransformationConve_g, |
| 17975 | cartesian_trajectory_planner__B.TmpSignalConversionAtMATLAB, |
| 17976 | cartesian_trajectory_planner__B.TmpMLSysMemLayoutBufferAt_m, |
| 17977 | &cartesian_trajectory_planner__B.MATLABSystem_p, |
| 17978 | &cartesian_trajectory_planner_DW.MATLABSystem_p); |
| 17979 | |
| 17980 | // SignalConversion generated from: '<S3>/MATLAB System' |
| 17981 | for (cartesian_trajectory_planner__B.i = 0; cartesian_trajectory_planner__B.i < |
| 17982 | 6; cartesian_trajectory_planner__B.i++) { |
| 17983 | cartesian_trajectory_planner__B.MatrixConcatenate[cartesian_trajectory_planner__B.i] |
| 17984 | = |
| 17985 | cartesian_trajectory_planner__B.MATLABSystem_p.MATLABSystem_o1[cartesian_trajectory_planner__B.i]; |
| 17986 | } |
| 17987 | |
| 17988 | // End of SignalConversion generated from: '<S3>/MATLAB System' |
| 17989 | |
| 17990 | // SignalConversion generated from: '<Root>/Matrix Concatenate' |
| 17991 | for (cartesian_trajectory_planner__B.i = 0; cartesian_trajectory_planner__B.i < |
| 17992 | 6; cartesian_trajectory_planner__B.i++) { |
| 17993 | cartesian_trajectory_planner__B.MatrixConcatenate[cartesian_trajectory_planner__B.i |
| 17994 | + 6] = |
| 17995 | cartesian_trajectory_planner__B.TmpMLSysMemLayoutBufferAt_m[cartesian_trajectory_planner__B.i]; |
| 17996 | } |
| 17997 | |
| 17998 | // End of SignalConversion generated from: '<Root>/Matrix Concatenate' |
| 17999 | |
| 18000 | // MATLABSystem: '<S9>/Get Parameter3' |
| 18001 | ParamGet_cartesian_trajectory_planner_2_272.get_parameter |
| 18002 | (&cartesian_trajectory_planner__B.value); |
| 18003 | |
| 18004 | // MATLABSystem: '<S9>/Get Parameter2' |
| 18005 | ParamGet_cartesian_trajectory_planner_2_271.get_parameter |
| 18006 | (&cartesian_trajectory_planner__B.delayed_time); |
| 18007 | |
| 18008 | // MATLAB Function: '<Root>/MATLAB Function' incorporates: |
| 18009 | // MATLABSystem: '<S9>/Get Parameter2' |
| 18010 | // MATLABSystem: '<S9>/Get Parameter3' |
| 18011 | |
| 18012 | cartesian_trajectory_planner__B.t_up = |
| 18013 | cartesian_trajectory_planner__B.delayed_time / |
| 18014 | cartesian_trajectory_planner__B.value; |
| 18015 | for (cartesian_trajectory_planner__B.i = 0; cartesian_trajectory_planner__B.i < |
| 18016 | 6; cartesian_trajectory_planner__B.i++) { |
| 18017 | cartesian_trajectory_planner__B.rtb_res_max_vel_d = |
| 18018 | cartesian_trajectory_planner__B.delayed_time; |
| 18019 | cartesian_trajectory_planner__B.d = fabs |
| 18020 | (cartesian_trajectory_planner__B.MatrixConcatenate[cartesian_trajectory_planner__B.i] |
| 18021 | - cartesian_trajectory_planner__B.MatrixConcatenate[cartesian_trajectory_planner__B.i |
| 18022 | + 6]); |
| 18023 | if (cartesian_trajectory_planner__B.d < |
| 18024 | cartesian_trajectory_planner__B.delayed_time * |
| 18025 | cartesian_trajectory_planner__B.t_up) { |
| 18026 | cartesian_trajectory_planner__B.rtb_res_max_vel_d = |
| 18027 | cartesian_trajectory_planner__B.d / cartesian_trajectory_planner__B.t_up; |
| 18028 | if (cartesian_trajectory_planner__B.rtb_res_max_vel_d == 0.0) { |
| 18029 | cartesian_trajectory_planner__B.rtb_res_max_vel_d = 0.01; |
| 18030 | } |
| 18031 | } |
| 18032 | |
| 18033 | cartesian_trajectory_planner__B.res_max_vel[cartesian_trajectory_planner__B.i] |
| 18034 | = cartesian_trajectory_planner__B.rtb_res_max_vel_d; |
| 18035 | } |
| 18036 | |
| 18037 | // End of MATLAB Function: '<Root>/MATLAB Function' |
| 18038 | |
| 18039 | // Outputs for Atomic SubSystem: '<Root>/Subscribe' |
| 18040 | // MATLABSystem: '<S8>/SourceBlock' incorporates: |
| 18041 | // Inport: '<S11>/In1' |
| 18042 | |
| 18043 | cartesian_trajectory_planner__B.b_varargout_1_h = |
| 18044 | Sub_cartesian_trajectory_planner_2_267.getLatestMessage |
| 18045 | (&cartesian_trajectory_planner__B.b_varargout_2_j); |
| 18046 | |
| 18047 | // Outputs for Enabled SubSystem: '<S8>/Enabled Subsystem' incorporates: |
| 18048 | // EnablePort: '<S11>/Enable' |
| 18049 | |
| 18050 | if (cartesian_trajectory_planner__B.b_varargout_1_h) { |
| 18051 | cartesian_trajectory_planner__B.In1 = |
| 18052 | cartesian_trajectory_planner__B.b_varargout_2_j; |
| 18053 | } |
| 18054 | |
| 18055 | // End of MATLABSystem: '<S8>/SourceBlock' |
| 18056 | // End of Outputs for SubSystem: '<S8>/Enabled Subsystem' |
| 18057 | // End of Outputs for SubSystem: '<Root>/Subscribe' |
| 18058 | |
| 18059 | // MATLABSystem: '<S9>/Get Parameter' |
| 18060 | ParamGet_cartesian_trajectory_planner_2_270.get_parameter |
| 18061 | (&cartesian_trajectory_planner__B.delayed_time); |
| 18062 | |
| 18063 | // MATLAB Function: '<Root>/MATLAB Function1' incorporates: |
| 18064 | // MATLABSystem: '<S9>/Get Parameter' |
| 18065 | |
| 18066 | cartesian_trajectory_planner__B.delayed_time = |
| 18067 | (cartesian_trajectory_planner__B.In1.Clock_.Nsec / 1.0E+9 + |
| 18068 | cartesian_trajectory_planner__B.In1.Clock_.Sec) - |
| 18069 | cartesian_trajectory_planner__B.delayed_time; |
| 18070 | if (cartesian_trajectory_planner__B.delayed_time < 0.0) { |
| 18071 | cartesian_trajectory_planner__B.delayed_time = 0.0; |
| 18072 | } |
| 18073 | |
| 18074 | // End of MATLAB Function: '<Root>/MATLAB Function1' |
| 18075 | |
| 18076 | // MATLABSystem: '<Root>/Trapezoidal Velocity Profile Trajectory' incorporates: |
| 18077 | // MATLABSystem: '<S9>/Get Parameter3' |
| 18078 | |
| 18079 | if (cartesian_trajectory_planner_DW.obj.TunablePropsChanged) { |
| 18080 | cartesian_trajectory_planner_DW.obj.TunablePropsChanged = false; |
| 18081 | } |
| 18082 | |
| 18083 | cartesi_TrapVelTrajSys_stepImpl(cartesian_trajectory_planner__B.delayed_time, |
| 18084 | cartesian_trajectory_planner__B.MatrixConcatenate, |
| 18085 | cartesian_trajectory_planner__B.res_max_vel, |
| 18086 | cartesian_trajectory_planner__B.value, |
| 18087 | cartesian_trajectory_planner__B.b_varargout_1, |
| 18088 | cartesian_trajectory_planner__B.b_varargout_2, |
| 18089 | cartesian_trajectory_planner__B.b_varargout_3); |
| 18090 | |
| 18091 | // MATLAB Function: '<Root>/MATLAB Function2' incorporates: |
| 18092 | // Constant: '<S1>/Constant' |
| 18093 | // MATLABSystem: '<Root>/Trapezoidal Velocity Profile Trajectory' |
| 18094 | |
| 18095 | cartesian_trajectory_planner__B.msg = |
| 18096 | cartesian_trajectory_planner__P.Constant_Value; |
| 18097 | cartesian_trajectory_planner__B.msg.Velocities_SL_Info.CurrentLength = 6U; |
| 18098 | cartesian_trajectory_planner__B.msg.Positions_SL_Info.CurrentLength = 6U; |
| 18099 | cartesian_trajectory_planner__B.msg.Accelerations_SL_Info.CurrentLength = 6U; |
| 18100 | for (cartesian_trajectory_planner__B.i = 0; cartesian_trajectory_planner__B.i < |
| 18101 | 6; cartesian_trajectory_planner__B.i++) { |
| 18102 | cartesian_trajectory_planner__B.msg.Velocities[cartesian_trajectory_planner__B.i] |
| 18103 | = |
| 18104 | cartesian_trajectory_planner__B.b_varargout_2[cartesian_trajectory_planner__B.i]; |
| 18105 | cartesian_trajectory_planner__B.msg.Positions[cartesian_trajectory_planner__B.i] |
| 18106 | = |
| 18107 | cartesian_trajectory_planner__B.b_varargout_1[cartesian_trajectory_planner__B.i]; |
| 18108 | cartesian_trajectory_planner__B.msg.Accelerations[cartesian_trajectory_planner__B.i] |
| 18109 | = |
| 18110 | cartesian_trajectory_planner__B.b_varargout_3[cartesian_trajectory_planner__B.i]; |
| 18111 | } |
| 18112 | |
| 18113 | // End of MATLAB Function: '<Root>/MATLAB Function2' |
| 18114 | |
| 18115 | // Outputs for Atomic SubSystem: '<Root>/Publish' |
| 18116 | // MATLABSystem: '<S7>/SinkBlock' |
| 18117 | Pub_cartesian_trajectory_planner_2_266.publish |
| 18118 | (&cartesian_trajectory_planner__B.msg); |
| 18119 | |
| 18120 | // End of Outputs for SubSystem: '<Root>/Publish' |
| 18121 | } |
| 18122 | |
| 18123 | // Model initialize function |
| 18124 | void cartesian_trajectory_planner_2_initialize(void) |
| 18125 | { |
| 18126 | // Registration code |
| 18127 | |
| 18128 | // initialize non-finites |
| 18129 | rt_InitInfAndNaN(sizeof(real_T)); |
| 18130 | |
| 18131 | { |
| 18132 | static const char_T tmp[6] = { '/', 'c', 'l', 'o', 'c', 'k' }; |
| 18133 | |
| 18134 | static const char_T tmp_0[17] = { '/', 'j', 'o', 'i', 'n', 't', '_', 't', |
| 18135 | 'r', 'a', 'j', 'e', 'c', 't', 'o', 'r', 'y' }; |
| 18136 | |
| 18137 | static const char_T tmp_1[5] = { '/', 'o', 'f', '_', 'x' }; |
| 18138 | |
| 18139 | static const char_T tmp_2[5] = { '/', 'o', 'f', '_', 'y' }; |
| 18140 | |
| 18141 | static const char_T tmp_3[5] = { '/', 'o', 'f', '_', 'z' }; |
| 18142 | |
| 18143 | static const char_T tmp_4[5] = { '/', 'o', 'f', '_', 'w' }; |
| 18144 | |
| 18145 | static const char_T tmp_5[5] = { '/', 'p', 'f', '_', 'x' }; |
| 18146 | |
| 18147 | static const char_T tmp_6[5] = { '/', 'p', 'f', '_', 'y' }; |
| 18148 | |
| 18149 | static const char_T tmp_7[5] = { '/', 'p', 'f', '_', 'z' }; |
| 18150 | |
| 18151 | static const char_T tmp_8[5] = { '/', 'o', 'i', '_', 'x' }; |
| 18152 | |
| 18153 | static const char_T tmp_9[5] = { '/', 'o', 'i', '_', 'y' }; |
| 18154 | |
| 18155 | static const char_T tmp_a[5] = { '/', 'o', 'i', '_', 'z' }; |
| 18156 | |
| 18157 | static const char_T tmp_b[5] = { '/', 'o', 'i', '_', 'w' }; |
| 18158 | |
| 18159 | static const char_T tmp_c[5] = { '/', 'p', 'i', '_', 'x' }; |
| 18160 | |
| 18161 | static const char_T tmp_d[5] = { '/', 'p', 'i', '_', 'y' }; |
| 18162 | |
| 18163 | static const char_T tmp_e[5] = { '/', 'p', 'i', '_', 'z' }; |
| 18164 | |
| 18165 | static const char_T tmp_f[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18166 | 'o', 'x' }; |
| 18167 | |
| 18168 | static const char_T tmp_g[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18169 | 'o', 'y' }; |
| 18170 | |
| 18171 | static const char_T tmp_h[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18172 | 'o', 'z' }; |
| 18173 | |
| 18174 | static const char_T tmp_i[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18175 | 'p', 'x' }; |
| 18176 | |
| 18177 | static const char_T tmp_j[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18178 | 'p', 'y' }; |
| 18179 | |
| 18180 | static const char_T tmp_k[10] = { '/', 'w', 'e', 'i', 'g', 'h', 't', '_', |
| 18181 | 'p', 'z' }; |
| 18182 | |
| 18183 | static const char_T tmp_l[12] = { '/', 'm', 'a', 'x', '_', 'a', 'n', 'g', |
| 18184 | '_', 'a', 'c', 'c' }; |
| 18185 | |
| 18186 | static const char_T tmp_m[12] = { '/', 'm', 'a', 'x', '_', 'a', 'n', 'g', |
| 18187 | '_', 'v', 'e', 'l' }; |
| 18188 | |
| 18189 | static const char_T tmp_n[12] = { '/', 's', 't', 'a', 'r', 't', '_', 'd', |
| 18190 | 'e', 'l', 'a', 'y' }; |
| 18191 | |
| 18192 | // SystemInitialize for Atomic SubSystem: '<Root>/Subscribe' |
| 18193 | // SystemInitialize for Enabled SubSystem: '<S8>/Enabled Subsystem' |
| 18194 | // SystemInitialize for Outport: '<S11>/Out1' |
| 18195 | cartesian_trajectory_planner__B.In1 = |
| 18196 | cartesian_trajectory_planner__P.Out1_Y0; |
| 18197 | |
| 18198 | // End of SystemInitialize for SubSystem: '<S8>/Enabled Subsystem' |
| 18199 | |
| 18200 | // Start for MATLABSystem: '<S8>/SourceBlock' |
| 18201 | cartesian_trajectory_planner_DW.obj_cs.matlabCodegenIsDeleted = true; |
| 18202 | cartesian_trajectory_planner_DW.obj_cs.isInitialized = 0; |
| 18203 | cartesian_trajectory_planner_DW.obj_cs.matlabCodegenIsDeleted = false; |
| 18204 | cartesian_trajectory_planner_DW.obj_cs.isSetupComplete = false; |
| 18205 | cartesian_trajectory_planner_DW.obj_cs.isInitialized = 1; |
| 18206 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18207 | cartesian_trajectory_planner__B.i1 < 6; |
| 18208 | cartesian_trajectory_planner__B.i1++) { |
| 18209 | cartesian_trajectory_planner__B.cv3[cartesian_trajectory_planner__B.i1] = |
| 18210 | tmp[cartesian_trajectory_planner__B.i1]; |
| 18211 | } |
| 18212 | |
| 18213 | cartesian_trajectory_planner__B.cv3[6] = '\x00'; |
| 18214 | Sub_cartesian_trajectory_planner_2_267.createSubscriber |
| 18215 | (cartesian_trajectory_planner__B.cv3, 1); |
| 18216 | cartesian_trajectory_planner_DW.obj_cs.isSetupComplete = true; |
| 18217 | |
| 18218 | // End of Start for MATLABSystem: '<S8>/SourceBlock' |
| 18219 | // End of SystemInitialize for SubSystem: '<Root>/Subscribe' |
| 18220 | |
| 18221 | // SystemInitialize for Atomic SubSystem: '<Root>/Publish' |
| 18222 | // Start for MATLABSystem: '<S7>/SinkBlock' |
| 18223 | cartesian_trajectory_planner_DW.obj_ej.matlabCodegenIsDeleted = true; |
| 18224 | cartesian_trajectory_planner_DW.obj_ej.isInitialized = 0; |
| 18225 | cartesian_trajectory_planner_DW.obj_ej.matlabCodegenIsDeleted = false; |
| 18226 | cartesian_trajectory_planner_DW.obj_ej.isSetupComplete = false; |
| 18227 | cartesian_trajectory_planner_DW.obj_ej.isInitialized = 1; |
| 18228 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18229 | cartesian_trajectory_planner__B.i1 < 17; |
| 18230 | cartesian_trajectory_planner__B.i1++) { |
| 18231 | cartesian_trajectory_planner__B.cv[cartesian_trajectory_planner__B.i1] = |
| 18232 | tmp_0[cartesian_trajectory_planner__B.i1]; |
| 18233 | } |
| 18234 | |
| 18235 | cartesian_trajectory_planner__B.cv[17] = '\x00'; |
| 18236 | Pub_cartesian_trajectory_planner_2_266.createPublisher |
| 18237 | (cartesian_trajectory_planner__B.cv, 1); |
| 18238 | cartesian_trajectory_planner_DW.obj_ej.isSetupComplete = true; |
| 18239 | |
| 18240 | // End of Start for MATLABSystem: '<S7>/SinkBlock' |
| 18241 | // End of SystemInitialize for SubSystem: '<Root>/Publish' |
| 18242 | |
| 18243 | // Start for MATLABSystem: '<S13>/Get Parameter3' |
| 18244 | cartesian_trajectory_planner_DW.obj_o.matlabCodegenIsDeleted = true; |
| 18245 | cartesian_trajectory_planner_DW.obj_o.isInitialized = 0; |
| 18246 | cartesian_trajectory_planner_DW.obj_o.matlabCodegenIsDeleted = false; |
| 18247 | cartesian_trajectory_planner_DW.obj_o.isSetupComplete = false; |
| 18248 | cartesian_trajectory_planner_DW.obj_o.isInitialized = 1; |
| 18249 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18250 | cartesian_trajectory_planner__B.i1 < 5; |
| 18251 | cartesian_trajectory_planner__B.i1++) { |
| 18252 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18253 | tmp_1[cartesian_trajectory_planner__B.i1]; |
| 18254 | } |
| 18255 | |
| 18256 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18257 | ParamGet_cartesian_trajectory_planner_2_290.initialize |
| 18258 | (cartesian_trajectory_planner__B.cv4); |
| 18259 | ParamGet_cartesian_trajectory_planner_2_290.initialize_error_codes(0, 1, 2, |
| 18260 | 3); |
| 18261 | ParamGet_cartesian_trajectory_planner_2_290.set_initial_value(0.39); |
| 18262 | cartesian_trajectory_planner_DW.obj_o.isSetupComplete = true; |
| 18263 | |
| 18264 | // End of Start for MATLABSystem: '<S13>/Get Parameter3' |
| 18265 | |
| 18266 | // Start for MATLABSystem: '<S13>/Get Parameter4' |
| 18267 | cartesian_trajectory_planner_DW.obj_es.matlabCodegenIsDeleted = true; |
| 18268 | cartesian_trajectory_planner_DW.obj_es.isInitialized = 0; |
| 18269 | cartesian_trajectory_planner_DW.obj_es.matlabCodegenIsDeleted = false; |
| 18270 | cartesian_trajectory_planner_DW.obj_es.isSetupComplete = false; |
| 18271 | cartesian_trajectory_planner_DW.obj_es.isInitialized = 1; |
| 18272 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18273 | cartesian_trajectory_planner__B.i1 < 5; |
| 18274 | cartesian_trajectory_planner__B.i1++) { |
| 18275 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18276 | tmp_2[cartesian_trajectory_planner__B.i1]; |
| 18277 | } |
| 18278 | |
| 18279 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18280 | ParamGet_cartesian_trajectory_planner_2_291.initialize |
| 18281 | (cartesian_trajectory_planner__B.cv4); |
| 18282 | ParamGet_cartesian_trajectory_planner_2_291.initialize_error_codes(0, 1, 2, |
| 18283 | 3); |
| 18284 | ParamGet_cartesian_trajectory_planner_2_291.set_initial_value(0.89); |
| 18285 | cartesian_trajectory_planner_DW.obj_es.isSetupComplete = true; |
| 18286 | |
| 18287 | // End of Start for MATLABSystem: '<S13>/Get Parameter4' |
| 18288 | |
| 18289 | // Start for MATLABSystem: '<S13>/Get Parameter5' |
| 18290 | cartesian_trajectory_planner_DW.obj_f4.matlabCodegenIsDeleted = true; |
| 18291 | cartesian_trajectory_planner_DW.obj_f4.isInitialized = 0; |
| 18292 | cartesian_trajectory_planner_DW.obj_f4.matlabCodegenIsDeleted = false; |
| 18293 | cartesian_trajectory_planner_DW.obj_f4.isSetupComplete = false; |
| 18294 | cartesian_trajectory_planner_DW.obj_f4.isInitialized = 1; |
| 18295 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18296 | cartesian_trajectory_planner__B.i1 < 5; |
| 18297 | cartesian_trajectory_planner__B.i1++) { |
| 18298 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18299 | tmp_3[cartesian_trajectory_planner__B.i1]; |
| 18300 | } |
| 18301 | |
| 18302 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18303 | ParamGet_cartesian_trajectory_planner_2_292.initialize |
| 18304 | (cartesian_trajectory_planner__B.cv4); |
| 18305 | ParamGet_cartesian_trajectory_planner_2_292.initialize_error_codes(0, 1, 2, |
| 18306 | 3); |
| 18307 | ParamGet_cartesian_trajectory_planner_2_292.set_initial_value(0.2); |
| 18308 | cartesian_trajectory_planner_DW.obj_f4.isSetupComplete = true; |
| 18309 | |
| 18310 | // End of Start for MATLABSystem: '<S13>/Get Parameter5' |
| 18311 | |
| 18312 | // Start for MATLABSystem: '<S13>/Get Parameter6' |
| 18313 | cartesian_trajectory_planner_DW.obj_en.matlabCodegenIsDeleted = true; |
| 18314 | cartesian_trajectory_planner_DW.obj_en.isInitialized = 0; |
| 18315 | cartesian_trajectory_planner_DW.obj_en.matlabCodegenIsDeleted = false; |
| 18316 | cartesian_trajectory_planner_DW.obj_en.isSetupComplete = false; |
| 18317 | cartesian_trajectory_planner_DW.obj_en.isInitialized = 1; |
| 18318 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18319 | cartesian_trajectory_planner__B.i1 < 5; |
| 18320 | cartesian_trajectory_planner__B.i1++) { |
| 18321 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18322 | tmp_4[cartesian_trajectory_planner__B.i1]; |
| 18323 | } |
| 18324 | |
| 18325 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18326 | ParamGet_cartesian_trajectory_planner_2_293.initialize |
| 18327 | (cartesian_trajectory_planner__B.cv4); |
| 18328 | ParamGet_cartesian_trajectory_planner_2_293.initialize_error_codes(0, 1, 2, |
| 18329 | 3); |
| 18330 | ParamGet_cartesian_trajectory_planner_2_293.set_initial_value(-0.12); |
| 18331 | cartesian_trajectory_planner_DW.obj_en.isSetupComplete = true; |
| 18332 | |
| 18333 | // End of Start for MATLABSystem: '<S13>/Get Parameter6' |
| 18334 | |
| 18335 | // Start for MATLABSystem: '<S13>/Get Parameter' |
| 18336 | cartesian_trajectory_planner_DW.obj_b.matlabCodegenIsDeleted = true; |
| 18337 | cartesian_trajectory_planner_DW.obj_b.isInitialized = 0; |
| 18338 | cartesian_trajectory_planner_DW.obj_b.matlabCodegenIsDeleted = false; |
| 18339 | cartesian_trajectory_planner_DW.obj_b.isSetupComplete = false; |
| 18340 | cartesian_trajectory_planner_DW.obj_b.isInitialized = 1; |
| 18341 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18342 | cartesian_trajectory_planner__B.i1 < 5; |
| 18343 | cartesian_trajectory_planner__B.i1++) { |
| 18344 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18345 | tmp_5[cartesian_trajectory_planner__B.i1]; |
| 18346 | } |
| 18347 | |
| 18348 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18349 | ParamGet_cartesian_trajectory_planner_2_287.initialize |
| 18350 | (cartesian_trajectory_planner__B.cv4); |
| 18351 | ParamGet_cartesian_trajectory_planner_2_287.initialize_error_codes(0, 1, 2, |
| 18352 | 3); |
| 18353 | ParamGet_cartesian_trajectory_planner_2_287.set_initial_value(0.21); |
| 18354 | cartesian_trajectory_planner_DW.obj_b.isSetupComplete = true; |
| 18355 | |
| 18356 | // End of Start for MATLABSystem: '<S13>/Get Parameter' |
| 18357 | |
| 18358 | // Start for MATLABSystem: '<S13>/Get Parameter1' |
| 18359 | cartesian_trajectory_planner_DW.obj_i.matlabCodegenIsDeleted = true; |
| 18360 | cartesian_trajectory_planner_DW.obj_i.isInitialized = 0; |
| 18361 | cartesian_trajectory_planner_DW.obj_i.matlabCodegenIsDeleted = false; |
| 18362 | cartesian_trajectory_planner_DW.obj_i.isSetupComplete = false; |
| 18363 | cartesian_trajectory_planner_DW.obj_i.isInitialized = 1; |
| 18364 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18365 | cartesian_trajectory_planner__B.i1 < 5; |
| 18366 | cartesian_trajectory_planner__B.i1++) { |
| 18367 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18368 | tmp_6[cartesian_trajectory_planner__B.i1]; |
| 18369 | } |
| 18370 | |
| 18371 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18372 | ParamGet_cartesian_trajectory_planner_2_288.initialize |
| 18373 | (cartesian_trajectory_planner__B.cv4); |
| 18374 | ParamGet_cartesian_trajectory_planner_2_288.initialize_error_codes(0, 1, 2, |
| 18375 | 3); |
| 18376 | ParamGet_cartesian_trajectory_planner_2_288.set_initial_value(0.89); |
| 18377 | cartesian_trajectory_planner_DW.obj_i.isSetupComplete = true; |
| 18378 | |
| 18379 | // End of Start for MATLABSystem: '<S13>/Get Parameter1' |
| 18380 | |
| 18381 | // Start for MATLABSystem: '<S13>/Get Parameter2' |
| 18382 | cartesian_trajectory_planner_DW.obj_db.matlabCodegenIsDeleted = true; |
| 18383 | cartesian_trajectory_planner_DW.obj_db.isInitialized = 0; |
| 18384 | cartesian_trajectory_planner_DW.obj_db.matlabCodegenIsDeleted = false; |
| 18385 | cartesian_trajectory_planner_DW.obj_db.isSetupComplete = false; |
| 18386 | cartesian_trajectory_planner_DW.obj_db.isInitialized = 1; |
| 18387 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18388 | cartesian_trajectory_planner__B.i1 < 5; |
| 18389 | cartesian_trajectory_planner__B.i1++) { |
| 18390 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18391 | tmp_7[cartesian_trajectory_planner__B.i1]; |
| 18392 | } |
| 18393 | |
| 18394 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18395 | ParamGet_cartesian_trajectory_planner_2_289.initialize |
| 18396 | (cartesian_trajectory_planner__B.cv4); |
| 18397 | ParamGet_cartesian_trajectory_planner_2_289.initialize_error_codes(0, 1, 2, |
| 18398 | 3); |
| 18399 | ParamGet_cartesian_trajectory_planner_2_289.set_initial_value(0.2); |
| 18400 | cartesian_trajectory_planner_DW.obj_db.isSetupComplete = true; |
| 18401 | |
| 18402 | // End of Start for MATLABSystem: '<S13>/Get Parameter2' |
| 18403 | CoordinateTransformationCo_Init |
| 18404 | (&cartesian_trajectory_planner_DW.CoordinateTransformationConv_pn); |
| 18405 | |
| 18406 | // Start for MATLABSystem: '<S12>/Get Parameter3' |
| 18407 | cartesian_trajectory_planner_DW.obj_e0.matlabCodegenIsDeleted = true; |
| 18408 | cartesian_trajectory_planner_DW.obj_e0.isInitialized = 0; |
| 18409 | cartesian_trajectory_planner_DW.obj_e0.matlabCodegenIsDeleted = false; |
| 18410 | cartesian_trajectory_planner_DW.obj_e0.isSetupComplete = false; |
| 18411 | cartesian_trajectory_planner_DW.obj_e0.isInitialized = 1; |
| 18412 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18413 | cartesian_trajectory_planner__B.i1 < 5; |
| 18414 | cartesian_trajectory_planner__B.i1++) { |
| 18415 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18416 | tmp_8[cartesian_trajectory_planner__B.i1]; |
| 18417 | } |
| 18418 | |
| 18419 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18420 | ParamGet_cartesian_trajectory_planner_2_278.initialize |
| 18421 | (cartesian_trajectory_planner__B.cv4); |
| 18422 | ParamGet_cartesian_trajectory_planner_2_278.initialize_error_codes(0, 1, 2, |
| 18423 | 3); |
| 18424 | ParamGet_cartesian_trajectory_planner_2_278.set_initial_value(0.0); |
| 18425 | cartesian_trajectory_planner_DW.obj_e0.isSetupComplete = true; |
| 18426 | |
| 18427 | // End of Start for MATLABSystem: '<S12>/Get Parameter3' |
| 18428 | |
| 18429 | // Start for MATLABSystem: '<S12>/Get Parameter4' |
| 18430 | cartesian_trajectory_planner_DW.obj_p.matlabCodegenIsDeleted = true; |
| 18431 | cartesian_trajectory_planner_DW.obj_p.isInitialized = 0; |
| 18432 | cartesian_trajectory_planner_DW.obj_p.matlabCodegenIsDeleted = false; |
| 18433 | cartesian_trajectory_planner_DW.obj_p.isSetupComplete = false; |
| 18434 | cartesian_trajectory_planner_DW.obj_p.isInitialized = 1; |
| 18435 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18436 | cartesian_trajectory_planner__B.i1 < 5; |
| 18437 | cartesian_trajectory_planner__B.i1++) { |
| 18438 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18439 | tmp_9[cartesian_trajectory_planner__B.i1]; |
| 18440 | } |
| 18441 | |
| 18442 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18443 | ParamGet_cartesian_trajectory_planner_2_279.initialize |
| 18444 | (cartesian_trajectory_planner__B.cv4); |
| 18445 | ParamGet_cartesian_trajectory_planner_2_279.initialize_error_codes(0, 1, 2, |
| 18446 | 3); |
| 18447 | ParamGet_cartesian_trajectory_planner_2_279.set_initial_value(0.0); |
| 18448 | cartesian_trajectory_planner_DW.obj_p.isSetupComplete = true; |
| 18449 | |
| 18450 | // End of Start for MATLABSystem: '<S12>/Get Parameter4' |
| 18451 | |
| 18452 | // Start for MATLABSystem: '<S12>/Get Parameter5' |
| 18453 | cartesian_trajectory_planner_DW.obj_g.matlabCodegenIsDeleted = true; |
| 18454 | cartesian_trajectory_planner_DW.obj_g.isInitialized = 0; |
| 18455 | cartesian_trajectory_planner_DW.obj_g.matlabCodegenIsDeleted = false; |
| 18456 | cartesian_trajectory_planner_DW.obj_g.isSetupComplete = false; |
| 18457 | cartesian_trajectory_planner_DW.obj_g.isInitialized = 1; |
| 18458 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18459 | cartesian_trajectory_planner__B.i1 < 5; |
| 18460 | cartesian_trajectory_planner__B.i1++) { |
| 18461 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18462 | tmp_a[cartesian_trajectory_planner__B.i1]; |
| 18463 | } |
| 18464 | |
| 18465 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18466 | ParamGet_cartesian_trajectory_planner_2_280.initialize |
| 18467 | (cartesian_trajectory_planner__B.cv4); |
| 18468 | ParamGet_cartesian_trajectory_planner_2_280.initialize_error_codes(0, 1, 2, |
| 18469 | 3); |
| 18470 | ParamGet_cartesian_trajectory_planner_2_280.set_initial_value(0.0); |
| 18471 | cartesian_trajectory_planner_DW.obj_g.isSetupComplete = true; |
| 18472 | |
| 18473 | // End of Start for MATLABSystem: '<S12>/Get Parameter5' |
| 18474 | |
| 18475 | // Start for MATLABSystem: '<S12>/Get Parameter6' |
| 18476 | cartesian_trajectory_planner_DW.obj_or.matlabCodegenIsDeleted = true; |
| 18477 | cartesian_trajectory_planner_DW.obj_or.isInitialized = 0; |
| 18478 | cartesian_trajectory_planner_DW.obj_or.matlabCodegenIsDeleted = false; |
| 18479 | cartesian_trajectory_planner_DW.obj_or.isSetupComplete = false; |
| 18480 | cartesian_trajectory_planner_DW.obj_or.isInitialized = 1; |
| 18481 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18482 | cartesian_trajectory_planner__B.i1 < 5; |
| 18483 | cartesian_trajectory_planner__B.i1++) { |
| 18484 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18485 | tmp_b[cartesian_trajectory_planner__B.i1]; |
| 18486 | } |
| 18487 | |
| 18488 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18489 | ParamGet_cartesian_trajectory_planner_2_281.initialize |
| 18490 | (cartesian_trajectory_planner__B.cv4); |
| 18491 | ParamGet_cartesian_trajectory_planner_2_281.initialize_error_codes(0, 1, 2, |
| 18492 | 3); |
| 18493 | ParamGet_cartesian_trajectory_planner_2_281.set_initial_value(1.0); |
| 18494 | cartesian_trajectory_planner_DW.obj_or.isSetupComplete = true; |
| 18495 | |
| 18496 | // End of Start for MATLABSystem: '<S12>/Get Parameter6' |
| 18497 | |
| 18498 | // Start for MATLABSystem: '<S12>/Get Parameter' |
| 18499 | cartesian_trajectory_planner_DW.obj_a3.matlabCodegenIsDeleted = true; |
| 18500 | cartesian_trajectory_planner_DW.obj_a3.isInitialized = 0; |
| 18501 | cartesian_trajectory_planner_DW.obj_a3.matlabCodegenIsDeleted = false; |
| 18502 | cartesian_trajectory_planner_DW.obj_a3.isSetupComplete = false; |
| 18503 | cartesian_trajectory_planner_DW.obj_a3.isInitialized = 1; |
| 18504 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18505 | cartesian_trajectory_planner__B.i1 < 5; |
| 18506 | cartesian_trajectory_planner__B.i1++) { |
| 18507 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18508 | tmp_c[cartesian_trajectory_planner__B.i1]; |
| 18509 | } |
| 18510 | |
| 18511 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18512 | ParamGet_cartesian_trajectory_planner_2_275.initialize |
| 18513 | (cartesian_trajectory_planner__B.cv4); |
| 18514 | ParamGet_cartesian_trajectory_planner_2_275.initialize_error_codes(0, 1, 2, |
| 18515 | 3); |
| 18516 | ParamGet_cartesian_trajectory_planner_2_275.set_initial_value(0.0); |
| 18517 | cartesian_trajectory_planner_DW.obj_a3.isSetupComplete = true; |
| 18518 | |
| 18519 | // End of Start for MATLABSystem: '<S12>/Get Parameter' |
| 18520 | |
| 18521 | // Start for MATLABSystem: '<S12>/Get Parameter1' |
| 18522 | cartesian_trajectory_planner_DW.obj_bh.matlabCodegenIsDeleted = true; |
| 18523 | cartesian_trajectory_planner_DW.obj_bh.isInitialized = 0; |
| 18524 | cartesian_trajectory_planner_DW.obj_bh.matlabCodegenIsDeleted = false; |
| 18525 | cartesian_trajectory_planner_DW.obj_bh.isSetupComplete = false; |
| 18526 | cartesian_trajectory_planner_DW.obj_bh.isInitialized = 1; |
| 18527 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18528 | cartesian_trajectory_planner__B.i1 < 5; |
| 18529 | cartesian_trajectory_planner__B.i1++) { |
| 18530 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18531 | tmp_d[cartesian_trajectory_planner__B.i1]; |
| 18532 | } |
| 18533 | |
| 18534 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18535 | ParamGet_cartesian_trajectory_planner_2_276.initialize |
| 18536 | (cartesian_trajectory_planner__B.cv4); |
| 18537 | ParamGet_cartesian_trajectory_planner_2_276.initialize_error_codes(0, 1, 2, |
| 18538 | 3); |
| 18539 | ParamGet_cartesian_trajectory_planner_2_276.set_initial_value(0.0); |
| 18540 | cartesian_trajectory_planner_DW.obj_bh.isSetupComplete = true; |
| 18541 | |
| 18542 | // End of Start for MATLABSystem: '<S12>/Get Parameter1' |
| 18543 | |
| 18544 | // Start for MATLABSystem: '<S12>/Get Parameter2' |
| 18545 | cartesian_trajectory_planner_DW.obj_b0.matlabCodegenIsDeleted = true; |
| 18546 | cartesian_trajectory_planner_DW.obj_b0.isInitialized = 0; |
| 18547 | cartesian_trajectory_planner_DW.obj_b0.matlabCodegenIsDeleted = false; |
| 18548 | cartesian_trajectory_planner_DW.obj_b0.isSetupComplete = false; |
| 18549 | cartesian_trajectory_planner_DW.obj_b0.isInitialized = 1; |
| 18550 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18551 | cartesian_trajectory_planner__B.i1 < 5; |
| 18552 | cartesian_trajectory_planner__B.i1++) { |
| 18553 | cartesian_trajectory_planner__B.cv4[cartesian_trajectory_planner__B.i1] = |
| 18554 | tmp_e[cartesian_trajectory_planner__B.i1]; |
| 18555 | } |
| 18556 | |
| 18557 | cartesian_trajectory_planner__B.cv4[5] = '\x00'; |
| 18558 | ParamGet_cartesian_trajectory_planner_2_277.initialize |
| 18559 | (cartesian_trajectory_planner__B.cv4); |
| 18560 | ParamGet_cartesian_trajectory_planner_2_277.initialize_error_codes(0, 1, 2, |
| 18561 | 3); |
| 18562 | ParamGet_cartesian_trajectory_planner_2_277.set_initial_value(0.99); |
| 18563 | cartesian_trajectory_planner_DW.obj_b0.isSetupComplete = true; |
| 18564 | |
| 18565 | // End of Start for MATLABSystem: '<S12>/Get Parameter2' |
| 18566 | CoordinateTransformationCo_Init |
| 18567 | (&cartesian_trajectory_planner_DW.CoordinateTransformationConve_p); |
| 18568 | |
| 18569 | // Start for MATLABSystem: '<S10>/Get Parameter' |
| 18570 | cartesian_trajectory_planner_DW.obj_d.matlabCodegenIsDeleted = true; |
| 18571 | cartesian_trajectory_planner_DW.obj_d.isInitialized = 0; |
| 18572 | cartesian_trajectory_planner_DW.obj_d.matlabCodegenIsDeleted = false; |
| 18573 | cartesian_trajectory_planner_DW.obj_d.isSetupComplete = false; |
| 18574 | cartesian_trajectory_planner_DW.obj_d.isInitialized = 1; |
| 18575 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18576 | cartesian_trajectory_planner__B.i1 < 10; |
| 18577 | cartesian_trajectory_planner__B.i1++) { |
| 18578 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18579 | tmp_f[cartesian_trajectory_planner__B.i1]; |
| 18580 | } |
| 18581 | |
| 18582 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18583 | ParamGet_cartesian_trajectory_planner_2_299.initialize |
| 18584 | (cartesian_trajectory_planner__B.cv2); |
| 18585 | ParamGet_cartesian_trajectory_planner_2_299.initialize_error_codes(0, 1, 2, |
| 18586 | 3); |
| 18587 | ParamGet_cartesian_trajectory_planner_2_299.set_initial_value(0.0); |
| 18588 | cartesian_trajectory_planner_DW.obj_d.isSetupComplete = true; |
| 18589 | |
| 18590 | // End of Start for MATLABSystem: '<S10>/Get Parameter' |
| 18591 | |
| 18592 | // Start for MATLABSystem: '<S10>/Get Parameter1' |
| 18593 | cartesian_trajectory_planner_DW.obj_m.matlabCodegenIsDeleted = true; |
| 18594 | cartesian_trajectory_planner_DW.obj_m.isInitialized = 0; |
| 18595 | cartesian_trajectory_planner_DW.obj_m.matlabCodegenIsDeleted = false; |
| 18596 | cartesian_trajectory_planner_DW.obj_m.isSetupComplete = false; |
| 18597 | cartesian_trajectory_planner_DW.obj_m.isInitialized = 1; |
| 18598 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18599 | cartesian_trajectory_planner__B.i1 < 10; |
| 18600 | cartesian_trajectory_planner__B.i1++) { |
| 18601 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18602 | tmp_g[cartesian_trajectory_planner__B.i1]; |
| 18603 | } |
| 18604 | |
| 18605 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18606 | ParamGet_cartesian_trajectory_planner_2_300.initialize |
| 18607 | (cartesian_trajectory_planner__B.cv2); |
| 18608 | ParamGet_cartesian_trajectory_planner_2_300.initialize_error_codes(0, 1, 2, |
| 18609 | 3); |
| 18610 | ParamGet_cartesian_trajectory_planner_2_300.set_initial_value(0.0); |
| 18611 | cartesian_trajectory_planner_DW.obj_m.isSetupComplete = true; |
| 18612 | |
| 18613 | // End of Start for MATLABSystem: '<S10>/Get Parameter1' |
| 18614 | |
| 18615 | // Start for MATLABSystem: '<S10>/Get Parameter2' |
| 18616 | cartesian_trajectory_planner_DW.obj_c.matlabCodegenIsDeleted = true; |
| 18617 | cartesian_trajectory_planner_DW.obj_c.isInitialized = 0; |
| 18618 | cartesian_trajectory_planner_DW.obj_c.matlabCodegenIsDeleted = false; |
| 18619 | cartesian_trajectory_planner_DW.obj_c.isSetupComplete = false; |
| 18620 | cartesian_trajectory_planner_DW.obj_c.isInitialized = 1; |
| 18621 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18622 | cartesian_trajectory_planner__B.i1 < 10; |
| 18623 | cartesian_trajectory_planner__B.i1++) { |
| 18624 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18625 | tmp_h[cartesian_trajectory_planner__B.i1]; |
| 18626 | } |
| 18627 | |
| 18628 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18629 | ParamGet_cartesian_trajectory_planner_2_301.initialize |
| 18630 | (cartesian_trajectory_planner__B.cv2); |
| 18631 | ParamGet_cartesian_trajectory_planner_2_301.initialize_error_codes(0, 1, 2, |
| 18632 | 3); |
| 18633 | ParamGet_cartesian_trajectory_planner_2_301.set_initial_value(0.99); |
| 18634 | cartesian_trajectory_planner_DW.obj_c.isSetupComplete = true; |
| 18635 | |
| 18636 | // End of Start for MATLABSystem: '<S10>/Get Parameter2' |
| 18637 | |
| 18638 | // Start for MATLABSystem: '<S10>/Get Parameter3' |
| 18639 | cartesian_trajectory_planner_DW.obj_f.matlabCodegenIsDeleted = true; |
| 18640 | cartesian_trajectory_planner_DW.obj_f.isInitialized = 0; |
| 18641 | cartesian_trajectory_planner_DW.obj_f.matlabCodegenIsDeleted = false; |
| 18642 | cartesian_trajectory_planner_DW.obj_f.isSetupComplete = false; |
| 18643 | cartesian_trajectory_planner_DW.obj_f.isInitialized = 1; |
| 18644 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18645 | cartesian_trajectory_planner__B.i1 < 10; |
| 18646 | cartesian_trajectory_planner__B.i1++) { |
| 18647 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18648 | tmp_i[cartesian_trajectory_planner__B.i1]; |
| 18649 | } |
| 18650 | |
| 18651 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18652 | ParamGet_cartesian_trajectory_planner_2_302.initialize |
| 18653 | (cartesian_trajectory_planner__B.cv2); |
| 18654 | ParamGet_cartesian_trajectory_planner_2_302.initialize_error_codes(0, 1, 2, |
| 18655 | 3); |
| 18656 | ParamGet_cartesian_trajectory_planner_2_302.set_initial_value(1.0); |
| 18657 | cartesian_trajectory_planner_DW.obj_f.isSetupComplete = true; |
| 18658 | |
| 18659 | // End of Start for MATLABSystem: '<S10>/Get Parameter3' |
| 18660 | |
| 18661 | // Start for MATLABSystem: '<S10>/Get Parameter4' |
| 18662 | cartesian_trajectory_planner_DW.obj_e.matlabCodegenIsDeleted = true; |
| 18663 | cartesian_trajectory_planner_DW.obj_e.isInitialized = 0; |
| 18664 | cartesian_trajectory_planner_DW.obj_e.matlabCodegenIsDeleted = false; |
| 18665 | cartesian_trajectory_planner_DW.obj_e.isSetupComplete = false; |
| 18666 | cartesian_trajectory_planner_DW.obj_e.isInitialized = 1; |
| 18667 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18668 | cartesian_trajectory_planner__B.i1 < 10; |
| 18669 | cartesian_trajectory_planner__B.i1++) { |
| 18670 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18671 | tmp_j[cartesian_trajectory_planner__B.i1]; |
| 18672 | } |
| 18673 | |
| 18674 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18675 | ParamGet_cartesian_trajectory_planner_2_303.initialize |
| 18676 | (cartesian_trajectory_planner__B.cv2); |
| 18677 | ParamGet_cartesian_trajectory_planner_2_303.initialize_error_codes(0, 1, 2, |
| 18678 | 3); |
| 18679 | ParamGet_cartesian_trajectory_planner_2_303.set_initial_value(1.0); |
| 18680 | cartesian_trajectory_planner_DW.obj_e.isSetupComplete = true; |
| 18681 | |
| 18682 | // End of Start for MATLABSystem: '<S10>/Get Parameter4' |
| 18683 | |
| 18684 | // Start for MATLABSystem: '<S10>/Get Parameter5' |
| 18685 | cartesian_trajectory_planner_DW.obj_a.matlabCodegenIsDeleted = true; |
| 18686 | cartesian_trajectory_planner_DW.obj_a.isInitialized = 0; |
| 18687 | cartesian_trajectory_planner_DW.obj_a.matlabCodegenIsDeleted = false; |
| 18688 | cartesian_trajectory_planner_DW.obj_a.isSetupComplete = false; |
| 18689 | cartesian_trajectory_planner_DW.obj_a.isInitialized = 1; |
| 18690 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18691 | cartesian_trajectory_planner__B.i1 < 10; |
| 18692 | cartesian_trajectory_planner__B.i1++) { |
| 18693 | cartesian_trajectory_planner__B.cv2[cartesian_trajectory_planner__B.i1] = |
| 18694 | tmp_k[cartesian_trajectory_planner__B.i1]; |
| 18695 | } |
| 18696 | |
| 18697 | cartesian_trajectory_planner__B.cv2[10] = '\x00'; |
| 18698 | ParamGet_cartesian_trajectory_planner_2_304.initialize |
| 18699 | (cartesian_trajectory_planner__B.cv2); |
| 18700 | ParamGet_cartesian_trajectory_planner_2_304.initialize_error_codes(0, 1, 2, |
| 18701 | 3); |
| 18702 | ParamGet_cartesian_trajectory_planner_2_304.set_initial_value(0.0); |
| 18703 | cartesian_trajectory_planner_DW.obj_a.isSetupComplete = true; |
| 18704 | |
| 18705 | // End of Start for MATLABSystem: '<S10>/Get Parameter5' |
| 18706 | |
| 18707 | // Constant: '<Root>/Constant' |
| 18708 | cartesian_tra_MATLABSystem_Init |
| 18709 | (&cartesian_trajectory_planner__B.MATLABSystem, |
| 18710 | &cartesian_trajectory_planner_DW.MATLABSystem); |
| 18711 | cartesian_tra_MATLABSystem_Init |
| 18712 | (&cartesian_trajectory_planner__B.MATLABSystem_p, |
| 18713 | &cartesian_trajectory_planner_DW.MATLABSystem_p); |
| 18714 | |
| 18715 | // Start for MATLABSystem: '<S9>/Get Parameter3' |
| 18716 | cartesian_trajectory_planner_DW.obj_k.matlabCodegenIsDeleted = true; |
| 18717 | cartesian_trajectory_planner_DW.obj_k.isInitialized = 0; |
| 18718 | cartesian_trajectory_planner_DW.obj_k.matlabCodegenIsDeleted = false; |
| 18719 | cartesian_trajectory_planner_DW.obj_k.isSetupComplete = false; |
| 18720 | cartesian_trajectory_planner_DW.obj_k.isInitialized = 1; |
| 18721 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18722 | cartesian_trajectory_planner__B.i1 < 12; |
| 18723 | cartesian_trajectory_planner__B.i1++) { |
| 18724 | cartesian_trajectory_planner__B.cv1[cartesian_trajectory_planner__B.i1] = |
| 18725 | tmp_l[cartesian_trajectory_planner__B.i1]; |
| 18726 | } |
| 18727 | |
| 18728 | cartesian_trajectory_planner__B.cv1[12] = '\x00'; |
| 18729 | ParamGet_cartesian_trajectory_planner_2_272.initialize |
| 18730 | (cartesian_trajectory_planner__B.cv1); |
| 18731 | ParamGet_cartesian_trajectory_planner_2_272.initialize_error_codes(0, 1, 2, |
| 18732 | 3); |
| 18733 | ParamGet_cartesian_trajectory_planner_2_272.set_initial_value(1.0); |
| 18734 | cartesian_trajectory_planner_DW.obj_k.isSetupComplete = true; |
| 18735 | |
| 18736 | // End of Start for MATLABSystem: '<S9>/Get Parameter3' |
| 18737 | |
| 18738 | // Start for MATLABSystem: '<S9>/Get Parameter2' |
| 18739 | cartesian_trajectory_planner_DW.obj_cu.matlabCodegenIsDeleted = true; |
| 18740 | cartesian_trajectory_planner_DW.obj_cu.isInitialized = 0; |
| 18741 | cartesian_trajectory_planner_DW.obj_cu.matlabCodegenIsDeleted = false; |
| 18742 | cartesian_trajectory_planner_DW.obj_cu.isSetupComplete = false; |
| 18743 | cartesian_trajectory_planner_DW.obj_cu.isInitialized = 1; |
| 18744 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18745 | cartesian_trajectory_planner__B.i1 < 12; |
| 18746 | cartesian_trajectory_planner__B.i1++) { |
| 18747 | cartesian_trajectory_planner__B.cv1[cartesian_trajectory_planner__B.i1] = |
| 18748 | tmp_m[cartesian_trajectory_planner__B.i1]; |
| 18749 | } |
| 18750 | |
| 18751 | cartesian_trajectory_planner__B.cv1[12] = '\x00'; |
| 18752 | ParamGet_cartesian_trajectory_planner_2_271.initialize |
| 18753 | (cartesian_trajectory_planner__B.cv1); |
| 18754 | ParamGet_cartesian_trajectory_planner_2_271.initialize_error_codes(0, 1, 2, |
| 18755 | 3); |
| 18756 | ParamGet_cartesian_trajectory_planner_2_271.set_initial_value(1.0); |
| 18757 | cartesian_trajectory_planner_DW.obj_cu.isSetupComplete = true; |
| 18758 | |
| 18759 | // End of Start for MATLABSystem: '<S9>/Get Parameter2' |
| 18760 | |
| 18761 | // Start for MATLABSystem: '<S9>/Get Parameter' |
| 18762 | cartesian_trajectory_planner_DW.obj_iy.matlabCodegenIsDeleted = true; |
| 18763 | cartesian_trajectory_planner_DW.obj_iy.isInitialized = 0; |
| 18764 | cartesian_trajectory_planner_DW.obj_iy.matlabCodegenIsDeleted = false; |
| 18765 | cartesian_trajectory_planner_DW.obj_iy.isSetupComplete = false; |
| 18766 | cartesian_trajectory_planner_DW.obj_iy.isInitialized = 1; |
| 18767 | for (cartesian_trajectory_planner__B.i1 = 0; |
| 18768 | cartesian_trajectory_planner__B.i1 < 12; |
| 18769 | cartesian_trajectory_planner__B.i1++) { |
| 18770 | cartesian_trajectory_planner__B.cv1[cartesian_trajectory_planner__B.i1] = |
| 18771 | tmp_n[cartesian_trajectory_planner__B.i1]; |
| 18772 | } |
| 18773 | |
| 18774 | cartesian_trajectory_planner__B.cv1[12] = '\x00'; |
| 18775 | ParamGet_cartesian_trajectory_planner_2_270.initialize |
| 18776 | (cartesian_trajectory_planner__B.cv1); |
| 18777 | ParamGet_cartesian_trajectory_planner_2_270.initialize_error_codes(0, 1, 2, |
| 18778 | 3); |
| 18779 | ParamGet_cartesian_trajectory_planner_2_270.set_initial_value(40.0); |
| 18780 | cartesian_trajectory_planner_DW.obj_iy.isSetupComplete = true; |
| 18781 | |
| 18782 | // End of Start for MATLABSystem: '<S9>/Get Parameter' |
| 18783 | |
| 18784 | // Start for MATLABSystem: '<Root>/Trapezoidal Velocity Profile Trajectory' |
| 18785 | cartesian_trajectory_planner_DW.obj.PeakVelocity[0] = 2.0; |
| 18786 | cartesian_trajectory_planner_DW.obj.Acceleration[0] = 1.0; |
| 18787 | cartesian_trajectory_planner_DW.obj.PeakVelocity[1] = 2.0; |
| 18788 | cartesian_trajectory_planner_DW.obj.Acceleration[1] = 2.0; |
| 18789 | cartesian_trajectory_planner_DW.obj.isInitialized = 0; |
| 18790 | cartesian_traj_SystemCore_setup(&cartesian_trajectory_planner_DW.obj); |
| 18791 | } |
| 18792 | } |
| 18793 | |
| 18794 | // Model terminate function |
| 18795 | void cartesian_trajectory_planner_2_terminate(void) |
| 18796 | { |
| 18797 | // Terminate for MATLABSystem: '<S13>/Get Parameter3' |
| 18798 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_o); |
| 18799 | |
| 18800 | // Terminate for MATLABSystem: '<S13>/Get Parameter4' |
| 18801 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_es); |
| 18802 | |
| 18803 | // Terminate for MATLABSystem: '<S13>/Get Parameter5' |
| 18804 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_f4); |
| 18805 | |
| 18806 | // Terminate for MATLABSystem: '<S13>/Get Parameter6' |
| 18807 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_en); |
| 18808 | |
| 18809 | // Terminate for MATLABSystem: '<S13>/Get Parameter' |
| 18810 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_b); |
| 18811 | |
| 18812 | // Terminate for MATLABSystem: '<S13>/Get Parameter1' |
| 18813 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_i); |
| 18814 | |
| 18815 | // Terminate for MATLABSystem: '<S13>/Get Parameter2' |
| 18816 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_db); |
| 18817 | |
| 18818 | // Terminate for MATLABSystem: '<S12>/Get Parameter3' |
| 18819 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_e0); |
| 18820 | |
| 18821 | // Terminate for MATLABSystem: '<S12>/Get Parameter4' |
| 18822 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_p); |
| 18823 | |
| 18824 | // Terminate for MATLABSystem: '<S12>/Get Parameter5' |
| 18825 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_g); |
| 18826 | |
| 18827 | // Terminate for MATLABSystem: '<S12>/Get Parameter6' |
| 18828 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_or); |
| 18829 | |
| 18830 | // Terminate for MATLABSystem: '<S12>/Get Parameter' |
| 18831 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_a3); |
| 18832 | |
| 18833 | // Terminate for MATLABSystem: '<S12>/Get Parameter1' |
| 18834 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_bh); |
| 18835 | |
| 18836 | // Terminate for MATLABSystem: '<S12>/Get Parameter2' |
| 18837 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_b0); |
| 18838 | |
| 18839 | // Terminate for MATLABSystem: '<S10>/Get Parameter' |
| 18840 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_d); |
| 18841 | |
| 18842 | // Terminate for MATLABSystem: '<S10>/Get Parameter1' |
| 18843 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_m); |
| 18844 | |
| 18845 | // Terminate for MATLABSystem: '<S10>/Get Parameter2' |
| 18846 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_c); |
| 18847 | |
| 18848 | // Terminate for MATLABSystem: '<S10>/Get Parameter3' |
| 18849 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_f); |
| 18850 | |
| 18851 | // Terminate for MATLABSystem: '<S10>/Get Parameter4' |
| 18852 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_e); |
| 18853 | |
| 18854 | // Terminate for MATLABSystem: '<S10>/Get Parameter5' |
| 18855 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_a); |
| 18856 | cartesian_tra_MATLABSystem_Term(&cartesian_trajectory_planner_DW.MATLABSystem); |
| 18857 | cartesian_tra_MATLABSystem_Term |
| 18858 | (&cartesian_trajectory_planner_DW.MATLABSystem_p); |
| 18859 | |
| 18860 | // Terminate for MATLABSystem: '<S9>/Get Parameter3' |
| 18861 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_k); |
| 18862 | |
| 18863 | // Terminate for MATLABSystem: '<S9>/Get Parameter2' |
| 18864 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_cu); |
| 18865 | |
| 18866 | // Terminate for Atomic SubSystem: '<Root>/Subscribe' |
| 18867 | // Terminate for MATLABSystem: '<S8>/SourceBlock' |
| 18868 | matlabCodegenHandle_matlabCo_jb(&cartesian_trajectory_planner_DW.obj_cs); |
| 18869 | |
| 18870 | // End of Terminate for SubSystem: '<Root>/Subscribe' |
| 18871 | |
| 18872 | // Terminate for MATLABSystem: '<S9>/Get Parameter' |
| 18873 | matlabCodegenHandle_matlabC_jbz(&cartesian_trajectory_planner_DW.obj_iy); |
| 18874 | |
| 18875 | // Terminate for Atomic SubSystem: '<Root>/Publish' |
| 18876 | // Terminate for MATLABSystem: '<S7>/SinkBlock' |
| 18877 | matlabCodegenHandle_matlabCod_j(&cartesian_trajectory_planner_DW.obj_ej); |
| 18878 | |
| 18879 | // End of Terminate for SubSystem: '<Root>/Publish' |
| 18880 | } |
| 18881 | |
| 18882 | // |
| 18883 | // File trailer for generated code. |
| 18884 | // |
| 18885 | // [EOF] |
| 18886 | // |
| 18887 | |